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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

共 2794 条记录，以下是221-230 订阅

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Study on a Variable Stiffness Actuation with Differential Drives

Study on a Variable Stiffness Actuation with Differential Dr...

引用

6th lEEE Annual international conference on Cyber Technology in automation, control and Intelligent Systems (IEEE-CYBER)

作者： Gao, Peng Ren, Anye Zong, Wei Key Lib Struct & Machinery Aerosp Syst Engn Shang Shanghai Peoples R China

ISBN: (纸本)9781509027323

Variable stiffness actuation (VSA) has been paid more attention to as a novel actuating class for robotics to change the apparent output stiffness. However, most designs internally present a set of elastic elements. this paper proposes a novel VSA based on a brief planetary with dual motor inputs, and presents some variable stiffness analyses based on power flow, torque, force and motor performance. It is shown that, when the VSA is driven by differential drives, the stiffness is determined by the external load (load force, load velocity and force impact) and the internal inputs (motor voltage, torque performance and electrical characteristics). In particular, the VSA can be manipulated by controlling motor performance without common elastic elements and complex mechanism.

关键词： robotics variable stiffness differential drives

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Rollover Prevention with Predictive control of Differential Braking and Rear Wheel Steering

Rollover Prevention with Predictive Control of Differential ...

引用

6th IEEE international conference on robotics, automation and Mechatronics (RAM)

作者： Lee, Shihao Yakub, Fitri Kasahara, Misawa Mori, Yasuchika Tokyo Metropolitan Univ Div Human Mechatron Syst Fac Syst Design 6-6 Asahigaoka Hino Tokyo Japan Tokyo Metropolitan Coll Ind Technol Tokyo Japan

ISBN: (纸本)9781479911998

this paper contributes to increase knowledge about a Model Predietive control (MPC) approach to untripped rollover prevention of heavy vehicles which make a panic lane change maneuver in order to avoid an obstacle in the path. Active differential braking control shows good effect on limit roll angle during an urgent situation. However, at the same time of avoiding rollover accidents, prohibiting the vehicle from the driver's intended and the vehicle's actual lane can also yield other accidents such as bumping into guard rails or cones. thus, it is necessary to track the driver's desired path as closely as possible while preventing the vehicle from rollover. Here, a new control method of switching the MPC controllers which uses differential braking with dead zone and active rear steer are proposed. Simultaneously, the trade-off between rollover prevention and path tracking is highlighted through simulation results. the effectiveness of using switching controllers designed for the trade-off solution is also confirmed through simulation results.

关键词： Predictive control vehicle Guardrails rollover accidents Drivers driver circuits Braking rear wheel controllers Heavy vehicles Dead band

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A Research Roadmap for Model-Driven Design of Embedded Systems for automation Components

A Research Roadmap for Model-Driven Design of Embedded Syste...

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7th IEEE international conference on Industrial informatics

作者： Strasser, T. Rooker, M. Hegny, I. Wenger, M. Zoitl, A. Ferrarini, L. Dede, A. Colla, M. Robotics and Adaptive Systems PROFACTOR GmbH Austria Automation and Control Institute Vienna University of Technology Austria Dipartimento di Elettronica e Informazione of Politecnico di Milano Italy Institute of Computer Integrated Manufacturing for Sustainable Innovation University of Applied Sciences of Southern Switzerland Switzerland

ISBN: (纸本)9781424437597

the aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial automation and control Systems (IACS). the special requirements of the industrial automation sector are taken into account by this novel approach, utilizing existing model-driven techniques. this approach is currently being developed in the Framework Seven (FP7) Embedded Systems Design project MEDEIA funded by the European Commission.

关键词： Embedded systems

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Design and Implementation of an Autonomous Mobility Algorithm for Photovoltaic Panel Surface Cleaning Robots Based on Webots 6

Design and Implementation of an Autonomous Mobility Algorith...

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6th international conference on robotics and automation Sciences (ICRAS)

作者： Farah, Mogahid Alshehab, Muhannad Alshehri, Khaled King Fahd Univ Petr & Minerals KFUPM Coll Engn & Phys Control & Instrumentat Engn Dept Dhahran 31261 Saudi Arabia

ISBN: (数字)9781665467841

ISBN: (纸本)9781665467841

An autonomous mobile robot that cleans the surface of Photovoltaic (PV) modules is designed and implemented. the robot follows a pre-defined trajectory on the solar panel surface to clean the accumulated dust. the path planning algorithms are developed and tested using an Inertial Measurement Unit (IMU) and ultrasonic sensors through a micro-controller. the proposed system is capable of rapidly identifying edges, working on incline surfaces, and self-navigating. Webots simulator is used throughout the design and development phases to model, program, and simulate the robot's localization, motion control, path planning, and measurement system. After applying path planning algorithms that ensure complete coverage of the solar panel's surface area, the results show that the robot successfully wipes the PVs with an error of 2.11% in the robot orientations measured by an IMU sensor and 5.4% in the ultrasonic readings used to detect the PV's edges.

关键词： robotics path planning mobile robot Webots photovoltaic panel

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Fuzzy Gain Scheduled EKF for Model-Based Skid-Steered Mobile Robot 6

Fuzzy Gain Scheduled EKF for Model-Based Skid-Steered Mobile...

引用

6th international conference on automation, robotics and Applications (ICARA)

作者： Kadmiry, Bourhane Callaghan Innovat Auckland New Zealand Sensing & Automat Grp Logan UT USA

ISBN: (纸本)9781479964666

this article describes an approach to autonomous robotic for agricultural applications. Technological setup aims at stable navigation based on estimation through Extended Kalman filtering (EKF), to enforce robust Skid-Steered Mobile Robot (SSMR) navigation. the scientific contribution is the implementation of two model-based estimators, using EKF algorithms, one on a nonlinear model, and one on a piece-wise linearized robot model. the later is a Fuzzy Gain Scheduled (FGS)-based developement. the process is taking into account tire-road modelling of friction forces in order to improve model performance. State estimation and correction using sensor data fusion (Odometry-IMU-GPS) is considered, to improve the SSMR control in critical motions, reducing inherent drifts due to skid-steer properties;for the purpose of better regulation and tracking control designs. Whilst the experimental results demonstrated the usefulness of FGS approach for optimal EKF estimation, further modelling and live testing are required to determine robot ability to cope with different scenarios in naturally varying environment.

关键词： Autonomous Farm robotics FGS EKF SSMR dynamics Sensor fusion

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A Framework for Designing Dynamic and Interoperable automation and robotics Systems 15

A Framework for Designing Dynamic and Interoperable Automati...

引用

15th IEEE international conference on Industrial informatics (INDIN)

作者： Salcic, Zoran Atmojo, Udayanto Dwi Park, Heejong Chen, Andrew Tzer-Yeu Wang, Kevin I-Kai Department of Electrical & Electronic Engineering Bangladesh University of Engineering and Technology Dhaka Bangladesh

ISBN: (纸本)9781538608371

In this paper, we propose using an approach based on the system-level programming language SystemJ extended with service oriented features, called SOSJ, to design dynamic interoperable software systems. the approach abstracts and integrates the worlds of automation and robotics systems by using a simple service interface based on abstract objects within SOSJ. We demonstrate our approach in a real-life automated bottling system scenario that uses multiple FESTO modular stations operating in SOSJ and integrating them with two Baxter robots operating in ROS without the need for any modification of the underlying mechatronics or robotics systems.

关键词： Service-oriented architecture Dynamic software Manufacturing systems Robot control

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Towards a new industrial robotics

Towards a new industrial robotics

引用

Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： Bonsignorio, F.P. Heron Robots V.R.Ceccardi 1/1816121 Genova Italy Univ.Carlos III de Madrid Robotics Lab 28911 Leganes Madrid Spain

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Performance Evaluation of a Network Flow Based Algorithm for Multi Robots Coordinated Motion Planning

Performance Evaluation of a Network Flow Based Algorithm for...

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6th IEEE international conference on robotics, automation and Mechatronics (RAM)

作者： Mohamed, Nasr Elnagar, Ashraf Univ Sharjah Dept Comp Sci Sharjah U Arab Emirates

ISBN: (纸本)9781479911998

Multi-robots coordinated motion is gaining more attention in the robotics research community because of its significance to a variety of applications such as formation control, evacuation and object transformation. Even in situations where a single robot may accomplish the task required, the use of multiple robots offers the ability to parallelize problem solution and provide desirable features like time reduction and fault tolerance. In this paper, we study the performance of a network-flow based multi-robot path planning algorithm, [9]. the mapping of the multi robots path planning roadmap to network flow problems enables the application and use of combinatorial network flow algorithms. the recently proposed algorithm can be extended to solve other related path planning problems. We evaluate the performance of the algorithm in for deployment and evacuation scenarios. Simulation results confirm the effectiveness and potential of this algorithm.

关键词： network flow motion planning Performance Evaluation Robot algorithms Path planning Cooperating robots Fault tolerance Evacuation robotics

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Biohybrid muscle actuator driven by cardiomyocytes 6

Biohybrid muscle actuator driven by cardiomyocytes

引用

6th international conference on Mechatronics, robotics and automation (ICMRA)

作者： Lin, Zening Yang, Yun Jiang, Tao Hong, Yang Gao, Yuan Luo, Zirong Natl Univ Def Technol Coll Intelligence Sci & Technol Changsha Peoples R China

ISBN: (纸本)9798350307542;9798350307535

Bionic robots, which aim to mimic the morphologies and functions of real living creatures, play an increasingly important role in military affairs, medical healthcare, industrial production, and so on. As a crucial part of the robots, actuators determine their overall performance to a certain extent. However, it is challenging to replicate the actuation behavior of real organisms using traditional electromechanical actuation systems (like motors) with flexible material actuation (like shape memory alloys). Potential solutions include biomuscular actuators assembled from living cells and biomaterials. As a result, this work created a biohybrid muscle actuator with primary cardiomyocytes and bioactive materials (Matrigel, fibrinogen, and so on). the muscle actuators started to produce spontaneous systolic-diastolic movements after a few days and could survive for at least five days. this study provides a reference for other researchers working on fabricating biohybrid muscle actuators.

关键词： bionic robotics biohybrid muscle actuator cardiomyocytes driven frequency

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Towards an Automated Pan Flute Player 6

Towards an Automated Pan Flute Player

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6th international conference on automation, robotics and Applications (ICARA)

作者： Kumar, Kishan Kumar, Kishen Chand, Praneel Carnegie, Dale A. Univ South Pacific Sch Phys & Engn Suva Fiji Victoria Univ Wellington Sch Engn & Comp Sci Wellington New Zealand

ISBN: (纸本)9781479964666

this paper outlines some of the design details of creating an automated Pan Flute player targeting the Solomon Island's Pan Flute in the Pacific Region. Hence, the system functionality will be discussed first through a block diagram. then the design will be further elaborated through discussion of the hardware assembly and different system modules. thereafter, the results with overview of the system implementation will be presented. Finally, implications of the automated pan flute player on the society and future improvements will be discussed.

关键词： pan flute automation robotics frequency music

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