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The direct method for adaptive feed-forward vibration control of magnetic bearing systems

The direct method for adaptive feed-forward vibration contro...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： J. Shi R. Zmood L.J. Qin School of Communications and Informatics Victoria University of Technology Melbourne VIC Australia School of Electrical and Computer Systems Engineering RMIT University VIC Australia

As the actuators of active magnetic bearings (AMB) are open loop unstable a feedback control system is essential for their successful operation and for ensuring good performance. In addition, when rotor systems utilizing AMBs are operated at high speeds there will be synchronous vibrations due to unavoidable rotor mass unbalances, which generate synchronous disturbance forces. These forces and vibrations can often lead to severe problems in rotating machines including collision with the touchdown bearings at high speed and the possible risk of causing damage to the internal parts of the machines. In this paper, a new ''direct" adaptive feedforward algorithm is proposed for minimizing selected vibration performance measures which is based on the filtered-x LMS adaptive filter algorithm. This new adaptive algorithm has been used for adjusting the amplitude and phase of a synchronous signal injected at the summing junction of the bearing feedback control loop. The experimental results reported in this work show the effectiveness of the proposed method.

关键词： Programmable control Adaptive control Feedforward systems Vibration control Magnetic levitation Feedback control Rotors Vibration measurement Adaptive filters Actuators

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Skill of compliance with controlled charging/discharging of kinetic energy

Skill of compliance with controlled charging/discharging of ...

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IEEE international conference on robotics and automation (ICRA)

作者： M. Okada S. Ban Y. Nakamura Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan CREST Program Japan Science and Technology Corporation Japan

Use of compliance in muscle is the inherent skill of a human. By using the potential energy charged in the compliant members, we can skillfully equalize the characteristics of muscles and body. Integrating the skill of compliance will provide robots with higher mobility, dexterity and safety and extends the fields of applications. The main research issues of the skill of compliance are tuning passive compliance, planning compliant motion and designing control law. To achieve the skill, we focus on the planning compliant motion considering the kinetic energy. In this paper, we propose to design a compliant motion through iterative model identification and motion design. A humanoid robot with passive compliance is used to integrate the skill of compliance and shows fast swing charging and discharging the kinetic energy.

关键词： Kinetic theory Muscles Motion planning Kinetic energy Humans Potential energy Mobile robots Safety Motion control Humanoid robots

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Self-collision detection and prevention for humanoid robots

Self-collision detection and prevention for humanoid robots

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IEEE international conference on robotics and automation (ICRA)

作者： J. Kuffner K. Nishiwaki S. Kagami Y. Kuniyoshi M. Inaba H. Inoue Department of Mechano-Informatics School of Information Science and Technology University of Tokyo Bunkyo Tokyo Japan Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Koto Tokyo Japan

We present an approach to self-collision detection suitable for complex articulated robots such as humanoids. Preventing self-collisions is vital for the safe operation of robots that generate body trajectories online. Our approach uses a fast distance determination method for convex polyhedra in order to conservatively guarantee that a given trajectory is free of self-collision. Experimental results using an online joystick control application for the humanoid robot "H7" demonstrate the feasibility and effectiveness of the method.

关键词： Humanoid robots Manipulators Leg Humans Service robots Interference Computational geometry Solid modeling Information science Injuries

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Expert system for the diagnosis of neonatal jaundice for use by medical field personnel

Expert system for the diagnosis of neonatal jaundice for use...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： C. Dharmar S. Srinivasan D. Mital S. Haque Department of Health Informatics UMDNJ-SHRP Newark NJ USA

The main objective of this project is to develop an expert system module that uses the clinical decision criteria of experts in the neonatology field to advice paramedical and semi-skilled personnel who require guidance to diagnose the etiology of neonatal jaundice. The project was developed with a commercially available software package EXSYS (Multilogic Inc.). In this project, we have used a rule-based system to build the decision tree that would aid the paramedical personnel to arrive at a appropriate etiology for hyperbilirubinemia in a neonate. The project is field tested in India, where the residents are asked to come up with the correct diagnosis given the clinical tests. The disadvantage of this model is that there is the problem of it becoming obsolete in a few years time unless it is constantly being updated by developers. There is also the problem that this system cannot train or learn by itself unlike an artificial neural network.

关键词： Medical expert systems Diagnostic expert systems Pediatrics Medical diagnostic imaging Personnel Testing Software packages Knowledge based systems Decision trees Artificial neural networks

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Java enterprise wide application for clinical database

Java enterprise wide application for clinical database

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international conference on control, automation, robotics and Vision (ICARCV)

作者： S. Srinivasan S. Haque D. Mital Department of Health Informatics SHRP University of Medicine and Dentistry of New Jersey Newark NJ USA

Java with its large number of application programming interfaces (APIs) which includes provisions for database connectivity, signal processing and advanced security features is ideally suited for enterprise-wide biomedical applications. In this paper we report the use of some of the Java APIs used in developing a clinical database system with Java speech interfaces. To speed up storage, retrieval and processing of patient information it would be useful to have a speech/voice interface to the clinical information system serving as the repository for the patient information. But voice recognition software as it comes out of the box is not adequate for professionals such as physicians who need additional highly specialized vocabulary specific to their subject matter. Once such a vocabulary is created and setup it is imperative to develop a voice based search for the terms, definitions or information such as images, acquired signals, etc. pertaining to specific medical content. In this paper we report the design and implementation of a one such system, namely the Medical Speech Interface System (MSI) for specialized users (in this case Respiratory Specialists) to do point of care information transaction processing with voice technology.

关键词： Java Spatial databases Speech processing Vocabulary Biomedical imaging Programming profession Biomedical signal processing Data security Information security Database systems

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Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control

Real-time humanoid motion generation through ZMP manipulatio...

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IEEE international conference on robotics and automation (ICRA)

作者： T. Sugihara Y. Nakamura H. Inoue Dept. of Mechano-Informatics Univ. of Tokyo Bunkyo-ku Tokyo Japan CREST Japan Science and Technology Corporation Japan CREST Japan Science and Technology Corporation(JST)

A humanoid robot is expected to be a rational form of machine to act in the real human environment and support people through interaction with them. Current humanoid robots, however, lack in adaptability, agility, or high-mobility enough to meet the expectations. In order to enhance high-mobility, the humanoid motion should be generated in real-time in accordance with the dynamics, which commonly requires a large amount of computation and has not been implemented so far. We have developed a real-time motion generation method that controls the center of gravity (COG) by indirect manipulation of the zero moment point (ZMP). The real-time response of the method provides humanoid robots with high-mobility. In the paper, the algorithm is presented. It consists of four parts, namely, the referential ZMP planning, the ZMP manipulation, the COG velocity decomposition to joint angles, and local control of joint angles. An advantage of the algorithm lies in its applicability to humanoids with a lot of degrees of freedom. The effectiveness of the proposed method is verified by computer simulations.

关键词： Motion control Humanoid robots Motion planning Humans Computer simulation control systems Kinematics Velocity control Design methodology Fuzzy logic

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Product modeling based integration of robot related engineering activities

Product modeling based integration of robot related engineer...

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IEEE international conference on robotics and automation (ICRA)

作者： L. Horvath I.J. Rudas H.M.A. Shamsudin John von Neumann Faculty of Informatics Budapest Polytechnic Budapest Hungary Budapest Polytechnic Budapest Hungary University Teknology Malaysia Johor Bahru Malaysia

In this paper an integration of product modeling with robot control is discussed. The authors propose a method to enhance applications of geometric and other product and production equipment related information in robot control. Research of the related methodology was motivated by a growing significance of robots in highly flexible manufacturing systems. Difficulties of reproduction of modeled product geometry at its applications resulted a growing importance of online real time communications between a centralized product modeling and several model applications. The reported research concentrates on the creation and application of model data information understandable by robot controls, on communication of model data with robot environments through the Internet, and finally on some related telerobotics issues. It covers one of the actual problem complexes in the integration of engineering modeling with its shop floor level applications. Systems integration, data model, data communication and model processing have been investigated. In the paper an introduction of the robot related activities of engineers and the modeling environment are first given, taking into account the robot control aspect. Following this, key issues regarding robot tasks and their shape model based control are explained. Then an approach to interactive application of Internet-based telerobotics for product model driven control of robots is outlined. Finally, possibilities for an integration of remote robot control applications with product modeling environments are discussed.

关键词： Robot control Solid modeling Internet Telerobotics Shape control Production equipment Flexible manufacturing systems Computational geometry Data models Data communication

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Prediction of hepatitis C using artificial neural network

Prediction of hepatitis C using artificial neural network

引用

international conference on control, automation, robotics and Vision (ICARCV)

作者： R. Jajoo D. Mital S. Haque S. Srinivasan School Of Health Related Professions Department Of Biomedical Informatics University of Medicine and Dentistry of New Jersey Newark NJ USA

The main objective of this research project is develop an expert system module, based on a back propagation feed forward artificial neural networks (ANNs), for the diagnosis of hepatitis C and compare its performance with other existing computer based decision support systems. The ANN based system was developed with a commercially available software package (Brain Maker, California scientific Software). Two different types of ANN models, unsupervised and supervised, were developed, compared, and tested. The predictive accuracy and the model training for supervised model was significantly better. The model was able to predict the Hepatitis C in patients very accurately, however performance was not significantly better than the traditional computer model based techniques. Further investigations are needed to understand the impact of this methodology on the outcome analysis. An existing database of hepatitis C infected patient was used. Data of 15 infected and 20 normal individual were collected. Dichotomous variables were coded as present (1) or not present (0). Continuous variable were recorded for patient age, ethnicity, patient number and patient sex. The results have been very interesting, however, some more research work is required to fine-tune the results. The main advantage of the developed system is that it is adaptive and self-adaptive type.

关键词： Liver diseases Artificial neural networks Predictive models Diagnostic expert systems Feeds Computer networks Decision support systems Software packages Testing Accuracy

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Flexible control of a grasping object with posture error

Flexible control of a grasping object with posture error

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IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： Y. Hasegawa M. Higashiura T. Fukuda Department of Micro System Engineering University of Nagoya Japan Department of Mechano Informatics System Engineering University of Nagoya Japan Center for Cooperative Research in Advanced Science and Technology University of Nagoya Japan

Proposes adjusting methods of a regrasping strategy according to position and posture errors of a grasping object. We have already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip's slip so that it could extend the tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

关键词： Error correction Grasping Fingers Robots Systems engineering and theory Numerical simulation Solids Genetic programming robotics and automation Robust control

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Form feature based generation of robot assembly paths for product variants

Form feature based generation of robot assembly paths for pr...

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IEEE international conference on Industrial Technology (ICIT)

作者： L. Horvath I.J. Rudas J.F. Bito Budapest Polytechnic John von Neumann Faculty of Informatics Budapest Hungary

Describes a model-based approach and method for robot assembly of mechanical products. The proposed method is intended to replace the conventional geometry based assembly path definition by form feature driven definition of paths. An integrated model of the considered system consists of part and assembly models of assembled product and assembly robot as well as robot process model. The authors analyzed associativities between model entities for the purpose of integrated application of the above listed partial models. A description of part geometry is defined and accessed indirectly, as a representation of form features. The feature principle has been extended to task oriented robot process model and model of robot. The proposed modeling offers an appropriate solution especially for control of robot assembly of custom demanded product variants. The paper is organized as follows. After a brief discussion of the situation of robot modeling, the present and the proposed approaches to robot assembly process planning are outlined. Following this, a computer model for planning and control of robot assembly is explained. An integrated model is proposed with extended application of the feature principle. Finally, feature driven modeling and definition of model entities as features are detailed.

关键词： Robotic assembly Assembly systems robotics and automation Shape Robot control Robot programming Mechanical products Computational geometry Process planning Application software

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