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检索条件"任意字段=5th International Conference on Robotics and Automation Systems, Robotics 2010"

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Dielectric elastomer actuators — On the way to new actuation-systems driving future assistive, compliant and safe robots and prostheses

Dielectric elastomer actuators — On the way to new actuatio...

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

作者： S. Reitelshöfer M. Landgraf I. S. Yoo J. Hörber C. Ramer C. Ziegler J. Franke Institute for Factory Automation and Production Systems (FAPS) Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU) Erlangen Germany Friedrich-Alexander-Universitat Erlangen-Nurnberg Erlangen Bayern DE

For almost 20 years, dielectric elastomer actuators (DEAs) have been the subject of intense research in material science. A large number of publications describe artificial muscles based on DEAs as a promising alternative for an energy efficient, lightweight and flexible actuation architecture. DEAs could improve and extend the capabilities of robotic and prosthetic devices in terms of their dynamical performance and their eligibility for energy autarkic operation. However, up to now DEAs are not available on a large scale with reproducible characteristics nor are they yet usable on a system integration level. In this paper we present recent findings of our ongoing five-year project to qualify DEAs as feasible artificial muscles for usage in compliant robot kinematics and soft prosthetic devices. the focus of this contribution lies on a new automated production process using Aerosol Jet Printing for stacked DEAs with very thin layers for reduced driving voltages and improved mechanical characteristics resulting from the additive manufacturing. Secondly, a new set of lightweight power electronics based on pulse width modulation (PWM) is presented which aims at the improvement of the overall specific power of DEA driven kinematic systems.

关键词： conferences Robots Biomechatronics

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Statics modeling of an underactuated wire-driven flexible robotic arm

Statics modeling of an underactuated wire-driven flexible ro...

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

作者： Zheng Li Ruxu Du Haoyong Yu Hongliang Ren Department of Biomedical Engineering National University of Singapore Singapore department of mechanical & automation engineering The Chinese University of Hong Kong Hong Kong SAR China

In this paper, statics model of an underactuated wire-driven flexible robotic arm is introduced. the robotic arm is composed of a serpentine backbone and a set of controlling wires. It has decoupled bending rigidity and axial rigidity, which enables the robot large axial payload capacity. Statics model of the robotic arm is developed using the Newton-Euler method. Combined with the kinematics model, the robotic arm deformation as well as the wire motion needed to control the robotic arm can be obtained. the model is validated by experiments. Results show that, the proposed model can well predict the robotic arm bending curve. Also, the bending curve is not affected by the wire pre-tension. this enables the wire-driven robotic arm with potential applications in minimally invasive surgical operations.

关键词： Robots Wires Joints Force Electron tubes Load modeling Loading

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Ergonomics and kinematic compatibility of PKankle, a fully-parallel spherical robot for ankle-foot rehabilitation

Ergonomics and kinematic compatibility of PKankle, a fully-p...

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

作者： Matteo Malosio Marco Caimmi Marco Ometto Lorenzo Molinari Tosatti Italian National Research Council Institute of Industrial Technologies and Automation Milan Italy University of Brescia Brescia Italy

PKankle is a robotic device based on a fully-parallel kinematic architecture and specifically designed for the neuro-rehabilitation of the ankle-foot complex. the peculiar kinematics allows the foot support to rotate, with good approximation, about the instantaneous center of rotation of the foot. An adjusting mechanical system allows the device to be employed in different patient positionings. Moreover, it features an integrated load cell for measuring subject interaction forces/torques, both to close impedance-based control loops and to obtain valuable clinical data, and a synchronized electromyographic acquisition system to analyze patient's muscular activity. the present work describes kinematic and control aspects specifically addressed to enhance its ergonomics and physiological compatibility to the actual mobility of the ankle-foot complex. Preliminary experimental activities, performed by healthy subjects, have been carried out to assess the effectiveness of the adopted solutions.

关键词： Foot Kinematics Joints Ergonomics Medical treatment Muscles Mobile communication

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Communication architecture for robotic applications 24

Communication architecture for robotic applications

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24th international conference on Flexible automation and Intelligent Manufacturing, FAIM 2014

作者： Tamashiro, Gabriel Vivaldini, Kelen C.T. Martins, José Becker, Marcelo Mechatronics Group-Mobile Robotics Lab. EESC-USP Av. Trabalhador Sao Carlense 400 São Carlos-SP Brazil Computer Science Dept EEP-FUMEP Av Monsenhor Martinho Salgot Piracicaba-SP560 Brazil

ISBN: (纸本)9781605951737

In robotic applications, the communication protocol is one of the main features that dictate scalability and network topology. the communication architecture must consider heterogeneity (i.e. network, hardware, operational system and programming language) and provide programming abstraction to simplify its development. there are several middlewares and frameworks that can be applied in robotic applications, differing considerably in complexity, programming languages and approach. In this context, this paper presents a communication architecture that fulfils such requirements and ensures information exchange through the network. It was evolved from a previous study, providing more flexibility and easily to adapt to other applications. An interface definition language (IDL) was conceived that enables users to define and deploy services, and also adjustable constraints (service request timeout, message size, maximum number of connected nodes) that restrict provided functionalities. the middleware is based on a multi-threaded service-oriented hybrid peer-to-peer architecture that uses concepts of object-oriented programming in a layered structure to provide flexibility for the communication implementation, minimizing code changes when ported to other robotic systems. Tests of availability and network response time were performed to evaluate its time constraints. the middleware applicability was proven when implemented in an AGV distributed system, designed to operate an intelligent warehouse. © Copyright 2014 by DEStech Publications, Inc. All rights reserved.

关键词： Middleware

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Model Based On-line Energy Prediction System for Semi-Autonomous Mobile Robots

Model Based On-line Energy Prediction System for Semi-Autono...

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international conference on Intelligent systems, Modelling and Simulation

作者： Ramviyas Parasuraman Keith Kershaw Prithvi Pagala Manuel Ferre Engineering department European Organization for Nuclear Research (CERN) Centre for Automation and Robotics UPM-CSIC Univesidad Politecnica de Madrid (UPM)

ISBN: (纸本)9781479938599

Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at short notice, the ability to know beforehand the energy required for performing the task is essential. this paper presents a on-line method for predicting energy requirements based on the pre-determined power models for a mobile robot. A small mobile robot, Khepera III is used for the experimental study and the results are promising with high prediction accuracy. the applications of the energy prediction models in energy optimization and simulations are also discussed along with examples of significant energy savings.

关键词： Mobile robots Energy management Energy optimization Energy prediction Energy consumption models

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Surgeon's third hand: An assistive robot endoscopic system with intuitive maneuverability for laparoscopic surgery

Surgeon's third hand: An assistive robot endoscopic system w...

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

作者： Ren C. Luo Jui Wang Chih Kang Chang Yi Wen Perng Center for Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan National Taiwan University Taipei TW

Laparoscopic surgery has to be operated with an assistant during surgery, which requires training and high cooperation work between the surgeon and assistants. the objective of this study is to develop a laparoscopic system providing intuitive maneuverability. We develop a Robotic Flexible Laparoscope System (RFLS) with compliance effect including adaptive impedance and velocity control to assist in laparoscopic surgery. the system is controlled by the surgeon's head movements, so that the surgeon can use his/her hands to manipulate the laparoscopic instruments while maneuvering the laparoscope intuitively, and thus replace the assistant and enhance the efficiency of the surgery. the laparoscope movements are controlled by adaptive impedance control approach, the compliance effect, the impedance with the integral and derivative control design, and the reaction torque observer. We also add zero-point-correcting algorithm and singular situation elimination algorithm. Furthermore, scalable ratio adjustment of head movement with respect to laparoscope movement is also included in our system. this system makes surgeon-in-charge maneuver the laparoscope intuitively without communication and coordination with assistant needed in conventional way. As a result, it is expected to reduce manpower and time during surgery. Experimental results demonstrate that the articulated laparoscope can always follow user's head motion in all necessary orientations.

关键词： Laparoscopes Surgery Gyroscopes Robots Impedance Torque Head

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Classifying emotions in rehabilitation robotics based on facial skin temperature

Classifying emotions in rehabilitation robotics based on fac...

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

作者： Viviane C. R. Appel Valdinei L. Belini Denny H. Jong Daniel V. Magalhães Glauco A. P. Caurin Aerospace Dept. IISc(2008-2010) Tektronix India (2013 to still date) Bangalore India Mobile Solution-R&D Lab LG Soft India Private Limited Bangalore S.J.C. Institute of Technology Bangalore India

Rehabilitation robotic plays an important role in therapeutic exercises by combining robots with computer serious games into an attractive therapeutic platform. However, measuring the degree of engagement of the user is not a trivial task. the difficulty of applying question-based techniques, particularly for patients who have the speech capacity compromised due to cerebrovascular accidents, has inspired us to investigate noninvasive and nonverbal techniques aiming to classifying emotions. For this purpose, a supervised artificial neural network interprets facial infrared thermal images of individuals performing rehabilitation robotic therapy integrated with games. A database containing images of 8 users was generated by combining evoked and spontaneous emotional reactions. In total, 2445 facial thermal images with an average of 100 images per person for three categories of emotions (neutral, motivated, overstressed) were classified. Based on confusion matrix analysis, the experimental results correlated very well with manual estimates, producing an overall performance of 92.6%.

关键词： Face Entropy Games Rehabilitation robotics Artificial neural networks Databases Correlation

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Recurrence characteristics analysis of near-Surface wind speed signal with different sampling frequencies

Recurrence characteristics analysis of near-Surface wind spe...

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4th international conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Wu, Zhan Xie Meng, Qing Hao Li, Jing Hai Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

the wind is the main factor to influence the propagation of gas in the atmosphere. therefore, the wind signal obtained by anemometer will provide us valuable clues for searching gas leakage sources. In this paper, the Recurrence Plot (RP) and Recurrence Quantification Analysis (RQA) are applied to analyze the influence of recurrence characteristics of the wind speed time series under the condition of the same place, the same time period and with the sampling frequency of 1hz, 2hz, 4.2hz, 5hz, 8.3hz, 12.5hz and 16.7hz respectively. Research results show that when the sampling frequency is higher than 5hz, the trends of recurrence nature of different groups are basically unchanged. However, when the sampling frequency is set below 5hz, the original trend of recurrence nature is destroyed, because the recurrence characteristic curves obtained using different sampling frequencies appear cross or overlapping phenomena. the above results indicate that the anemometer will not be able to fully capture the detailed information in wind field when its sampling frequency is lower than 5hz. the recurrence characteristics analysis of the wind speed signals provides an important basis for the optimal selection of anemometer. © (2014) Trans Tech Publications, Switzerland.

关键词： Time series

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Research of Beam Domain MVDR and Motion Compensation

Research of Beam Domain MVDR and Motion Compensation

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2014 5th international conference on Information Technology for Manufacturing systems(ITMS 2014)

作者： Xiubo Luo Demin Xu Junjun Hu Xiaomei Hu Northwestern Polytechnical University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University

Minimum variance distortionless response(MVDR) beamformer is a better target detection method, which provided high-resolution and anti-interference abilities. But the nice features will be degraded significantly for a fast bearing-rate target. Because the eigenvalue of longtime integral correlation matrix will spread, the signal and interference are no longer clearly identified by the eigenvectors. A beam domain MVDR and motion compensation arithmetic is given in this paper. the motion effect can be compensated by tracking the signal bearing change using real time estimated beam domain covariance matrix. the detection ability of moving target can be improved.

关键词： Beamforming MVDR Motion compensation

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Research of Oil quality online monitoring system

Research of Oil quality online monitoring system

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2014 5th international conference on Information Technology for Manufacturing systems(ITMS 2014)

作者： Xiubo Luo Demin Xu Xiaomei Hu Northwestern Polytechnical University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University

the quality of oil determines the status and life of the devices. However, most Chinese vessels have not equipped with on-line oil quality testing facilities. therefore, a special on-line oil quality monitoring system for vessels is designed to real-time monitor of oil pollution change. An alarm signal or control signal based on the monitoring results is sent, which supports the purifier automatically and water, particles and gases are removed from the oil to maintain a good oil quality. the system is developed and implemented in the vessel corporation and has a good prospect of application. the application of this system will promote the process of the intelligent device management.

关键词： On-line monitoring Oil quality Intelligent device

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