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

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Analysis on an uncalibrated image-based visual servoing for 6 DOF industrial welding robots

Analysis on an uncalibrated image-based visual servoing for ...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Chen, Qingcheng Zhu, Shiqiang Wang, Xuanyin Wu, Wenxiang State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou Zhejiang Province China

ISBN: (纸本)9781467312776

It is of quite great significance to research on automatic operation for industrial welding robots. this paper presents an uncalibrated control scheme for guiding 6 DOF welding robot to track a target via image-based visual servoing. Recently this method has been a novel trend for automation application of the welding robot and raises great interests among researchers. this closed-loop control law is based on the feedback of visual features from eye-in-hand camera. It can be applied in controlling the industrial robot to track weld seam or to guide the robot somewhere without knowing correct robot kinematic model or camera calibration. In the paper, Lyapunov method is employed to analyze the necessary and sufficient conditions for asymptotic stability and robustness of this control scheme. this proposed scheme is verified to ensure the convergence of image-features to desired reference image. Finally the image-based visual servoing simulation for 6 DOF robot is presented, which testifies the steady-state tracking behaviour and good performance. © 2012 IEEE.

关键词： Industrial robots

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Hierarchical Concept Formation in Associative Memory Models and its Application to Memory of Motions for Humanoid Robots

Hierarchical Concept Formation in Associative Memory Models ...

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IEEE-RAS international conference on Humanoid Robots

作者： Hideki Kadone Yoshihiko Nakamura Department of Mechano-Informatics Graduate School of Information Science and Technology University of Tokyo Tokyo Japan

ISBN: (纸本)1424401992

In associative neural networks with nonmonotonic activation functions which store hierarchically correlated patterns, bifurcations of attractors take place depending on the parameter of nonmonotonicity. With hierarchically correlated storage patterns, attractors are the stored patterns when the nonmonotonicity is large, and new emergent patterns at around the centers of clusters when the nonmonotonicity is small. the phenomenon itself was shown by the authors (2005) by simulations and applied to memory systems for humanoid robots, which store feature vectors of motion patterns and maintain specific and emergent conceptual representations of motions of humanoid robots. In this paper, we theoretically describe the hierarchical bifurcations of attractors in nonmonotonic associative memory models and discuss the correspondences between the theory and simulation results

关键词： Associative memory Humanoid robots Bifurcation Face recognition Neurons Neural networks Information science Statistical analysis Proportional control Signal design

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Segmentation, Memorization, Recognition and Abstraction of Humanoid Motions Based on Correlations and Associative Memory

Segmentation, Memorization, Recognition and Abstraction of H...

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IEEE-RAS international conference on Humanoid Robots

作者： Hideki Kadone Yoshihiko Nakamura Department of Mechano-Informatics Graduate School of Information Science and Technology University of Tokyo Tokyo Japan

ISBN: (纸本)1424401992;142440200X

In order to self-organize symbols from observed motion patterns, it is necessary to temporally segment the continuous motion pattern flows into meaningful chunks. For reusability of the acquired information, repeatedly observed patterns are important, which means that segmentation, memorization, recognition and abstraction depend on each other. From this point of view, we propose methods for motion patterns of humanoid robots observed as a continuous flow using pattern correlations and associative memory. Initially, patterns are segmented by pattern correlations and then stored into the associative memory. Afterwards, only new kinds of motions are fed through this process. Associative memory is capable of segmentation, recognition and abstraction, and has ease in incremental update of the stroge for new patterns

关键词： Associative memory Pattern recognition Humanoid robots Information science Intelligent systems Data mining Frequency Motion control Pattern matching Neural networks

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Development of Doctors Search Engine based on ICD-10

Development of Doctors Search Engine based on ICD-10

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international conference on Soft Computing and Intelligent Systems

作者： Shunsuke Doi Takashi Kimura Takahiro Suzuki Katsuhiko Takabayashi Chiba Pref. Endowed Research Division of Healthcare Policy in Aging Society Chiba University Hospital Department of Medical Informatics and Management Chiba University Hospital

ISBN: (纸本)9781467327428

Chiba University Hospital website has a lot of information and helps visitors to find all kinds of information about the hospital, while too much information makes it difficult to find a suitable doctor as a specialist for them. Visitors have to search every department website one by one. this task is very troublesome, especially large hospital. To solve this problem, we developed a specialist search engine. By entering a disease name, the engine will find the specialists for the disease. the engine can control synonyms by using international Statistical Classification of Diseases and Related Health Problems (ICD), Japanese Standard Disease-Code Master and arrange the specialists in order of the experience.

关键词： Search Engine ICD-10 Information retrieval Japanese Standard Disease-Cord Master Medical Specialist

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Kinematics and force analysis of a 6 degrees of freedom 3-UPS mechanism with triangular platform for haptic applications

Kinematics and force analysis of a 6 degrees of freedom 3-UP...

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international conference on control, automation and Systems ( ICCAS)

作者： Mohammad Khodabakhsh Mehdi Sadeghpour Soroosh Hassanpour Gholamreza Vossoughi Department of Mechanical Engineering Center of Excellence in Design Robotics and Automation (CEDRA) Sharif University of Technology Tehran Iran University of Waterloo Ontario Canada

this paper presents inverse dynamics equations for a 3-UPS mechanism using virtual work principle. this mechanism has three UPS legs connecting the base to a triangular platform. By changing the orientation of leg's actuators a non-symmetric mechanism with a suitable workspace near the origin without any singularity is obtained. Direct and inverse kinematics Jacobian matrices of the mechanism are obtained by the Newton-Euler approach. then the inverse dynamics problem is solved using the principle of virtual work, so that the force and torque of active actuators have been obtained by having external forces (force and torque) acted on the platform. Force analysis of the 3-UPS mechanism has been done in the whole workspace without any singularity. Studying several situations of the platform shows that the ranges of the magnitudes of the forces and torques of the active actuators in this mechanism are reasonable, and typical actuators can support them.

关键词： Joints Force Kinematics Torque Vectors Equations Actuators

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Predefined-Time Containment control for Multiagent Systems under Denial-of-Service Attacks

Predefined-Time Containment Control for Multiagent Systems u...

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international conference on Electronic Engineering and informatics (EEI)

作者： Yi Wei Yingnan Pan Bohai University College of Control Science and Engineering Jinzhou Liaoning

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

this paper investigates the fully distributed predefined-time containment control problem for nonlinear multiagent systems (MASs) with denial-of-service (DoS) attacks. the containment error convergence time can be flexibly adjusted by employing the designed time-varying function (TVF). the containment controller signal is updated by applying a fully distributed hybrid event-triggered mechanism (ETM), which provides the condition for information transfer in the case of DoS attacks without using the global information of Laplacian matrix, and the controller does not need continuously update so that communication resources can be saved. the MASs are proved to be stable by using the Lyapunov stability theory. Finally, the simulation results show that the effectiveness of the proposed scheme.

关键词： Laplace equations Simulation Denial-of-service attack control systems Dynamic scheduling Stability analysis Nonlinear dynamical systems informatics Multi-agent systems Lyapunov methods

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A nanochannel system fabricated by MEMS microfabrication and atomic force microscopy

A nanochannel system fabricated by MEMS microfabrication and...

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IEEE international conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Zhiqian Wang Dong Wang Niandong Jiao Steve Tung Zaili Dong Chinese Academy of Sciences Beijing Beijing CN State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China Department of Mechanical Engineering University of Arkansas Fayetteville AR USA

A silicon nanochannel system with integrated transverse electrodes was designed and fabricated by combining MEMS microfabrication and AFM nanolithography. the fabrication process began with the patterning of microscale reservoirs and electrodes on an oxidized silicon chip using conventional MEMS techniques. A nanochannel, approximately 30μm long with a small semi-circular cross-sectional area of 20nm by 200nm, was then mechanically machined on the oxide surface between the micro reservoirs by applying AFM nanolithography with an all-diamond probe. Anodic bonding was used to seal off the nanochannel with a matching Pyrex cover. Continuous flow in the nanochannel was verified by pressurizing a solution of fluorescein isothiocyanate (FITC) in ethanol through the channel in a vacuum chamber. It was further demonstrated by driving carboxyl-modified FluoSpheres ® (diameter ~ 20 nm) through the nanochannel with an external electric field. Presence of the FluoSpheres ® in the channel was indicated by a sharp increase in current between the transverse electrodes.

关键词： Electrodes Silicon Reservoirs Nanolithography Bonding Force

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Coordinating Feet in Bipedal Balance

Coordinating Feet in Bipedal Balance

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IEEE-RAS international conference on Humanoid Robots

作者： S.O. Anderson C.G. Atkeson J.K. Hodgins Robotics Institute Carnegie Mellon University USA

ISBN: (纸本)1424401992

Biomechanical models of human standing balance in the sagittal plane typically treat the two ankle joints as a single degree of freedom. they describe the sum of the torques produced by the ankles, but do not predict what the contribution of each ankle will be. Similarly, balance algorithms for bipedal robots control the location of the overall center of pressure, but do not consider the individual centers of pressure under each foot. We present theoretical and experimental results showing an optimal solution to the problem of producing a single desired torque with redundant actuators, resulting in alignment of the individual centers of pressure under each foot. this produces a feedback gain structure not addressed in the biomechanics literature and a balance controller that is potentially more robust to unexpected changes in the region of support. We show that the feedback gain matrix of this controller has an unexpected structure - large off-axis integral gain elements indicate that the ankle torque that equalize the position of the center of pressure is determined primarily by information from the other foot. We also demonstrate controllers based on this design using the Sarcos Primus hydraulic biped.

关键词： Foot Actuators Pressure control Force control Humans Robot control Torque Feedback Stability criteria three-term control

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Study on particle focusing in microchannel with orifice-shape obstacle

Study on particle focusing in microchannel with orifice-shap...

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international conference on informatics, Electronics & Vision (ICIEV)

作者： Hirofumi Sugami Hiroshige Kumamaru Naohisa Takagaki University of Hyogo Shosha Himeji JAPAN

ISBN: (纸本)9781538610244;9781538610237

In recent years, flow cytometers are used in the medical and research fields. this flow cytometer is an apparatus for observing cells such as humans and analyzing the size and nature of cells. In order to detect the cells, it is necessary to align the cells in a row in the sample solution flow, and now the cells are focused mainly by enclosing the sample solution flow with flows not containing cells called sheath flow. In this method, however, problems such as size increase of the apparatus due to complication of the structure and accurate flow rate control of the sheath flow are pointed out. therefore, in this research, we aim to focus fine particles by using obstacles in the flow channel, proposed by Park et al., instead of using sheath flow. In this numerical analysis, ANSYS CFX which is a commercially available thermal fluid analysis software is used. the Euler method and the Lagrangian method (particle tracking method), are used to calculate two-phase flow. the flow channel, with an overall length of 1500 μm, a width of 200 μm and a height of 50 μm, has orifices at three places. For analysis conditions, a sample solution, mixture of water (98%) and polystyrene particles (2%), enters the inlet at a flow velocity of 0.5 m/s. the diameter of the particles is 10 μm and the outlet pressure is atmospheric pressure. In this calculation, it was confirmed that the particles were focused in the central part of the flow channel at each step the solution passed through the orifice. Calculation results on the particle convergence rate and the pressure loss by the Euler method were almost the same as the corresponding results by the Lagrangian method. In addition, the trajectory of particles was visualized by the Lagrangian method. In the future, we will conduct experiments in order to confirm the present calculation results.

关键词： Orifices informatics Focusing Microchannels Finite element analysis thermal analysis

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Total cost of ownership for different state of the art FDM machines (3D printers) 6th

Total cost of ownership for different state of the art FDM m...

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6th KES international conference on Sustainable Design and Manufacturing, KES-SDM 2019

作者： Fauth, Janin Elkaseer, Ahmed Scholz, Steffen G. Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Hermann-von-Helmholtz-Platz 1 Eggenstein-Leopoldshafen76344 Germany Faculty of Engineering Port Said University Port Said42526 Egypt Hermann-von-Helmholtz-Platz 1 Eggenstein-Leopoldshafen76344 Germany

ISBN: (纸本)9789811392702

Total Cost of Ownership (TCO) analysis is an important tool to estimate total costs incurred for Additive Manufacturing (AM) over the time of the useful life from the purchaser’s perspective. thus, the paper on hand describes the application of the TCO model to different state of the art Fused Deposition Modelling (FDM) machines. the application of the TCO model to AM aims at uncovering and integrating cost savings and sustainability benefits into procurement decisions. A generic TCO model for AM was developed and applied to three selected FDM printers. the true costs were identified with the help of historical costs, vendor data and results from measurements on material and energy consumption. the cost calculations showed that the value and distribution of TCO cost components highly depend on the type of FDM printer as well as on identified influencing factors. the study resulted in recommendations towards sustainability improvement and concurrent cost reduction in AM, such as the reduction of material waste. To unleash cost and sustainability advantages, it is recommended to optimise procurement decisions while disclosing all true costs and properties of the 3D printers at the time of the product selection. © 2019, Springer Nature Singapore Pte Ltd.

关键词： Sustainable development

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