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检索条件"机构=Advanced Robotics and Intelligent Systems"

共 517 条记录，以下是331-340 订阅

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A kind of online self-tuning smith predictor

A kind of online self-tuning smith predictor

引用

IEEE International Conference on Mechatronics and Automation

作者： Xu Chen Fei Meng Xiaopeng Chen Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and System Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Key Laboratory of Intelligent Control and Decision of Comp lex System Beijing China

ISBN: (纸本)9781509023974

This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.

关键词： Delay effects Temperature control Delays Predictive models Oscillators Robots

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Assembly of hepatic lobule-like microtissue with repetitive single-step contact manipulation

Assembly of hepatic lobule-like microtissue with repetitive ...

引用

International Symposium on Micromechatronics and Human Science (MHS)

作者： Zeyang Liu Masaru Takeuchi Masahiro Nakajima Toshio Fukuda Yasuhisa Hasegawa Qiang Huang Department of Micro-Nano Systems Engineering Nagoya University Japan Center for Micro-nano Mechatronics Nagoya University Japan Institute for Advanced Research Nagoya University Japan Intelligent Robotics Institute Beijing Institute of Technolog China Department of Mechatronics Engineering Meijo University Japan

ISBN: (纸本)9781509027866

This paper reported a cell system that fabricates hepatic lobule-like microtissue (HLLM) based on alginate-Calcium electrodeposition and cell microcapsule method. The property of the fabricated HLLM includes: 1) With a shape similar to our native hepatic lobule tissue. 2) High cell dense (~10 8 ). 3) Easily be moved and retrieved for further 3D assembly. Therefore, we proposed a repetitive single-step manipulation method to assemble these single HLLM into 3D multilayer hepatic lobule model. The pick-up success rate was approximating 90%. The assembly speed was about 0.4 microtissue/min and the cell viability was higher than 80%. Unlike other assembly methods, our method is sufficiently repeatable and easy to assemble many single micro modules. The fabricated 3D hepatic lobule model with high cell density is essential for tissue engineering applications.

关键词： Three-dimensional displays Nonhomogeneous media Liver Shape Mechatronics Solid modeling

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Rehabilitation with lower limb exoskeleton robot joint load adaptive server control

Rehabilitation with lower limb exoskeleton robot joint load ...

引用

International Conference on Information and Automation (ICIA)

作者： Shaomin Zhang Can Wang Ying Hu Duxin Liu Ting Zhang Xinyu Wu Key Laboratory of Human-Machine-Intelligence Synergic Systems Chinese Academy ot Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Department of Mechanical and Automation The Chinese University of Hong Kong

ISBN: (纸本)9781509041039

In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The research of this article is exoskeleton robot single joint load adaptive servo control. Considering the volunteers, wearing an exoskeleton robot, joints have significant changes in load torque and the moment of inertia, so driving joints was designed based on fuzzy control. Load adaptive servo controller makes the robot in rows, counter rotating torque moment of inertia of change and change has a better adaptability, and improves the smoothness of joint movement. This method was tested and the test on SIAT exoskeletons, verify the feasibility of joint adaptive control algorithm.

关键词： Servomotors Legged locomotion Exoskeletons Torque DC motors

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Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain

Planning and execution of dynamic whole-body locomotion for ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Alexander W. Winkler Carlos Mastalli Ioannis Havoutis Michele Focchi Darwin G. Caldwell Claudio Semini Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy Agile & Dexterous Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Switzerland

We present a framework for dynamic quadrupedal locomotion over challenging terrain, where the choice of appropriate footholds is crucial for the success of the behaviour. We build a model of the environment on-line and on-board using an efficient occupancy grid representation. We use Any-time-Repairing A* (ARA*) to search over a tree of possible actions, choose a rough body path and select the locally-best footholds accordingly. We run a n-step lookahead optimization of the body trajectory using a dynamic stability metric, the Zero Moment Point (ZMP), that generates natural dynamic whole-body motions. A combination of floating-base inverse dynamics and virtual model control accurately executes the desired motions on an actively compliant system. Experimental trials show that this framework allows us to traverse terrains at nearly 6 times the speed of our previous work, evaluated over the same set of trials.

关键词： Dynamics Trajectory Acceleration Planning Vehicle dynamics Legged locomotion

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Fabrication of hepatic lobule model based on electrodeposition

Fabrication of hepatic lobule model based on electrodepositi...

引用

International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015

作者： Liu, Zeyang Takeuchi, Masaru Nakajima, Masahiro Fukuda, Toshio Hasegawa, Yasuhisa Huang, Qiang Department of Micro-Nano Systems Engineering Nagoya University Japan Center for Micro-nano Mechatronics Nagoya University Japan Institute for Advanced Research Nagoya University Japan Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology China

ISBN: (纸本)9781479966783

This paper proposes an electrodeposition-based method to generate Alginate-Poly-L-lysine (PLL) microcapsules for 3D cell structures. Hepatic lobule shaped microcapsules of RLC-18 cells were produced for long-term culture to obtain desired morphologies of cell aggregates. The fabricated hepatic lobule models with high cell density are important to be applied for 3D assembly of biological cells for tissue engineering applications. © 2015 IEEE.

关键词： Electrodeposition

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In situ nanomanipulation with 3D SEM-CT observation inside environmental SEM

In situ nanomanipulation with 3D SEM-CT observation inside e...

引用

International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015

作者： Nakajima, Masahiro Takeuchi, Masaru Fukuda, Toshio Hasegawa, Yasuhisa Huang, Qiang Center for Micro-nano Mechatronics Nagoya University Japan Department of Micro-Nano Systems Engineering Nagoya University Japan Institute for Advanced Research Nagoya University Japan Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China

ISBN: (纸本)9781479966783

In situ nanomanipulation system is presented with 3D scanning electron microscope - computed tomography (SEM-CT) system integrated with inside an environmental - SEM (E-SEM). The E-SEM was used to achieve a real-time high resolution imaging for high precision nanomanipulation. The SEM-CT system was used for obtaining 3D cross-sectional image with sub-micron high resolution. In this paper, Caenorhabditis elegans (C. elegans) was used as a target of biological sample to demonstrate a nanoinjection operation. The nanoinjection was determined by the SEM-CT system with its 3D information. © 2015 IEEE.

关键词： Scanning electron microscopy

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Microchannels fabrication by alginate fiber molding method

Microchannels fabrication by alginate fiber molding method

引用

International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015

作者： Takeuchi, Masaru Nakajima, Masahiro Fukuda, Toshio Hasegawa, Yasuhisa Department of Micro-Nano Systems Engineering Nagoya University Japan Center for Micro-nano Mechatronics Nagoya University Japan Institute for Advanced Research Nagoya University Japan Department of Mechatronics Engineering Meijo University Japan Intelligent Robotics Institute Beijing Institute of Technology China 1 Furo-cho Chikusa-ku Nagoya4648603 Japan

ISBN: (纸本)9781479966783

In this paper, we constructed three dimensional (3D) microchannel networks inside gelatin-based hydrogel towards 3D in vitro cell structures. To achieve functional 3D cell structures, vascular networks are important to supply oxygen and nutrients to cells, and remove waste product from cells. An alginate hydrogel fibers were employed to construct the microchannel networks like blood vessels. The pattern of the hydrogel fiber can be fixed using magnetic force and the fibers are embedded in the gelatin-based hydrogel. Cells can be embedded inside the gelatin-based hydrogel. The patterned hydrogel fiber can be melted using standard saline citrate (SSC) buffer and the melted area can be used as vascular networks. The flow inside the melted alginate hydrogel fibers were visualized using fluorescent microbeads. The results validate that the proposed method can be used to make arbitrary patterns of vascular networks inside cell structures and contribute to achieve in vitro 3D cell structures. © 2015 IEEE.

关键词： Hydrogels

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Design of a general resilient robotic system based on axiomatic design theory

Design of a general resilient robotic system based on axioma...

引用

IEEE/ASME (AIM) International Conference on advanced intelligent Mechatronics

作者： Tan Zhang Dan Zhang Madan M. Gupta Wenjun Zhang Advanced Engineering Design Laboratory University of Saskatchewan Canada Robotics & Automation Laboratory University of Ontario Institute of Technology Canada Intelligent Systems Research Laboratory University of Saskatchewan Canada

Resilient robotic systems are a kind of robotic system that is able to recover their original function after partial damage of the system. This is achieved by making changes on the partially damaged robot. The general resilient robot, which makes sense by including active joints, passive joints, passive links, and passive adjustable links, was proposed in order to explore its resilience. The axiomatic design theory (ADT) is applied to develop the resilient robot. First, a general architecture of robots was proposed, which is characterized as under-actuated robot. Second, a docking system was developed, which is the key part of incorporating the proposed architecture in the design of the mechanical system of the resilient robot, and this thus enables the realization of the proposed architecture.

关键词： Joints Context Robot sensing systems Resilience Redundancy Connectors

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Verification of Passive Power-Assist Device Using Humanoid Robot: Effect on Bending and Twisting Motion

Verification of Passive Power-Assist Device Using Humanoid R...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Yumeko Imamura Takayuki Tanaka Ko Ayusawa Eiichi Yoshida CNRS-AIST Joint Robotics Laboratory UMI3218/CRT Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology Graduate School of Information Science and Technology Hokkaido University

ISBN: (纸本)9781479968862

A passive power-assist supporter, called Smart Suit Lite, aims at reducing the lumbar load utilizing the tension of elastic belts. Its design method is based on a digital human model and motion measurements. This paper presents basic experiments using humanoid robot HRP-4 for verifying the design model of the suit. In the experiment, the joint torques of the robot and the elastic force of Smart Suit Lite were measured. We found that the decrease of the chest pitch torque during slow forward bending motion on the sagittal plane was consistent with simulation results. In addition, the effects for three-dimensional motion including chest pitching and yawing also indicated a similar tendency to the simulation. Because we performed quantitative evaluation of the effects by each part of the suit, these results are considered to provide useful information to the optimization of Smart Suit Lite.

关键词： Humanoid robots twisting motion Bending Design models Verification three dimensional motion Quantitative Evaluation design approach Torque simulating Robot Thorax Boxes tension

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Fabrication of Hepatic Lobule Model based on Electrodeposition

Fabrication of Hepatic Lobule Model based on Electrodepositi...

引用

International Symposium on Micro-NanoMechatronics and Human Science

作者： Zeyang Liu Masaru Takeuchi Masahiro Nakajima Toshio Fukuda Yasuhisa Hasegawa Qiang Huang Department of Micro-Nano Systems Engineering Nagoya University Center for Micro-nano Mechatronics Nagoya University Institute for Advanced Research Nagoya University Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology

ISBN: (纸本)9781467382182

关键词： Hepatic Lobule Electrolytic deposition Cell Density fabrication cytology Microcapsules alginate-poly-L-lysine

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