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作者： Durali, Mohammad Behravesh, Behzad Center of Excellence for Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology P.O. Box 11365-9567 Tehran Iran

The compound axle is a space saving suspension component that is relatively inexpensive and easy to install. Therefore it is used in rear suspension system of most front wheel drive passenger cars. This article present an optimum design algorithm for this component. A typical cross section for this the torsion beam of the axle is selected as a basis design. Using finite element methods, kinematics and elasto-kinematics behaviors of the section in vehicle normal maneuvers have been calculated. The acquired dynamic characteristics of the member was entered into a dynamic simulation program and the effect of geometrical parameters of torsion beam on the vehicle handling was studied. Using DOE method a sensitivity analysis was carried out on the torsion beam cross section to achieve an optimum cross section that could satisfy the objective function. The results suggest a V shape design as oppose to the usual U shape for the beam and mark the diameter of the torsion bar as the most effective parameter for an optimum design. Copyright © 2003 SAE International.

关键词： Finite element method

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Effective strategies for complex skill real-time learning using reinforcement learning

Effective strategies for complex skill real-time learning us...

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IEEE International Conference on robotics, Intelligent Systems and Signal Processing, RISSP 2003

作者： Wei, Ying-Zi Zhao, Ming-Yang Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Science Shenyang110016 China Shenyang Institute of Technology Shenyang110168 China Graduate School of the Chinese Academy of Sciences Beijing100039 China

ISBN: (纸本)078037925X

Following the principle of human skill learning, robot acquiring skill is a process similar to human skill learning. Reinforcement learning is on-line actor critic method for robot to develop its skill. The reinforcement Junction has become the critical component for its effect of evaluating the action and guiding the learning process. A difference form of augmented reward function is considered carefully. In this paper we present a strategy for the task of complex skill learning. Automatic robot shaping policy is to dissolve the complex skill into a hierarchical learning process. Variable resolution discretization of input space is introduced to improve the generalization capability of CMAC-based RL. Conventional Ε -greedy policy has the shortage of unnecessary randomization. Boltzmann distribution selection is also introduced to the balance of exploration and exploitation. We describe our ideas of reinforcement learning methods and also illustrate with an example the utility of method for learning skilled robot control on line. © 2003 IEEE.

关键词： Reinforcement learning

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Explicit communication in designing efficient cooperative mobile robotic system

Explicit communication in designing efficient cooperative mo...

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IEEE International Conference on robotics and automation (ICRA)

作者： Y.K. Lam E.K. Wong C.K. Loo Centre for Robotics and Automation Faculty of Engineering and Technology Multimedia University MalaccaCampus Malacca Malaysia

This paper presents the design of ant-inspired control strategies that mimic the ant colony foraging behavior. Inter-agent communication, in particular explicit communication is applied to create multiple cooperating mobile robots in order to accomplish the foraging task. Explicit communication can significantly multiply the capabilities and effectiveness of teams of robotic systems. However, the drawback is it introduces more interference among robots at the goal and home region in comparison to robotic system without the implementation of inter-agent communication. Thus, to investigate how well the explicit communication can be adopted in designing efficient cooperative mobile robotic system, experiments were carried out on the simulated robots. The efficiency of the strategies are measured in terms of three criteria: time, density of robots and interference.

关键词： Mobile communication Mobile robots Communication system control Intelligent robots robotics and automation Interference Costs Parallel robots Design engineering Multimedia systems

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Evolution of the NASA/DARPA Robonaut control system

Evolution of the NASA/DARPA Robonaut control system

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IEEE International Conference on robotics and automation (ICRA)

作者： M.A. Diftler C.J. Culbert R.O. Ambrose R. Platt W.J. Bluethmann Automation and Robotics Department Houston USA Department of Computer Science University of Massachusetts Amherst MA USA Robotics Technology Branch NASA-Johnson Space Center Houston TX USA Johnson Space Center Hernandez Engineering Inc. Houston TX USA

The NASA/DARPA Robonaut system is evolving from a purely teleoperator controlled anthropomorphic robot towards a humanoid system with multiple control pathways. Robonaut is a human scale robot designed to approach the dexterity of a space suited astronaut. Under teleoperator control, Robonaut has been able to perform many high payoff tasks indicating that it could significantly reduce the maintenance workload for human's working in space. Throughout its development, Robonaut has been augmented to include new sensors and software resulting in increased skills that allow for more shared control with the teleoperator, and ever increasing levels of autonomy. These skills range from simple compliance control, and short term memory, to, most recently, reflexive grasping and haptic object identification using a custom tactile glove, and real-time visual object tracking.

关键词： NASA Control systems Teleoperators Orbital robotics Humans Robot control Anthropomorphism Humanoid robots Robot sensing systems Grasping

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Human-robot control strategies for the NASA/DARPA Robonaut

Human-robot control strategies for the NASA/DARPA Robonaut

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2003 IEEE Aerospace Conference

作者： Diffler, M.A. Huber, F.L. Culbert, C.J. Ambrose, R.O. Bluethmann, W.J. Automation and Robotics Dept. Lockheed Martin Houston TX 77058 United States Metrica Johnson Space Center Houston TX 77058 United States Robotic Systems Technology Branch NASA Johnson Space Center Houston TX 77058 United States Hernandez Engineering Inc. Johnson Space Center Houston TX 77058 United States

ISBN: (纸本)078037651X

The Robotic Systems technology Branch at the NASA Johnson Space Center (JSC) is currently developing robot systems to reduce the Extra-Vehicular Activity (EVA) and planetary exploration burden on astronauts. One such system. Robonaut. is capable of interfacing with external Space Station systems that currently have only human interfaces. Robonaut is human scale, anthropomorphic, and designed to approach the dexterity of a space-suited astronaut. Robonaut can perform numerous human rated tasks, including actuating tether hooks, manipulating flexible materials, soldering wires. grasping handrails to move along space station mockups, and mating connectors. Recent developments in autonomous control and perception for Robonaut have enabled dexterous, real-time manmachine interaction. Specifically. a versatile, vision-based algorithm for matching range silhouettes monitors human activity and estimates tool pose. Robonaut is now capable of acting as a practical autonomous assistant to the human, providing and accepting tools by reacting to body language. © 2003 IEEE.

关键词： NASA

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Optimization of logistic processes in supply-chains using meta-heuristics

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2003年 2902卷 9-23页

作者： Silva, Carlos A. Runkler, Thomas A. Sousa, João M. Sá Da Costa, J.M. Siemens AG Corporate Technology Information and Communications CT IC 4 81730 Munich Germany Technical University of Lisbon Instituto Superior Técnico Dep. Mechanical Engineering - Control Automation and Robotics Group Av. Rovisco Pais 1049-001 Lisbon Portugal

This paper addresses the optimization of logistic processes in supply-chains using meta-heuristics: genetic algorithms and ant colony optimization. The dynamic assignment of components to orders and choosing the solution that is able to deliver more orders at the correct date, is a scheduling problem that classical scheduling methods can not cope with. However, the implementation of meta-heuristics is done only after a positive assessment of the performance's expectation provided by the fitness-distance correlation analysis. Both meta-heuristics are then applied to a simulation example that describes a general logistic process. The performance is similar for both methods, but the ant colony optimization method provides more information at the expenses of computational costs. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Supply chains

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Dynamical modeling and analysis of the human jumping process

Dynamical modeling and analysis of the human jumping process

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作者： Meghdari, A. Aryanpour, M. Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran 11365 Iran

ISBN: (纸本)0791836290

A dynamical model was developed in order to study the jumping process in human, and the effect of factors like joint speeds and hand motion. An experiment was designed and setup to compare the theoretical model with the experimental observations. Time histories of vertical force, mass center velocity and driving torques were obtained too. Using dynamical equations, the effect of joint speeds on the maximum values of these quantities is discussed. It is shown that reducing the joint speeds of a body can lead to an unsuccessful jump in which the body does not enter the flight phase. An increase in speed reduces the take-off time (the time necessary for the body to leave the ground) and increases the body's linear velocity at take-off, as well as, the maximum value of driving torques. Effect of hand motion is also investigated through suppressing motion of the Shoulder and Elbow. It is observed that hand motion has an improving effect on the body's linear velocity. Although speed of joints did not show to have a great influence on most torques, those at the Shoulder and Elbow were observed to be more sensitive to it. Copyright © 2002 by ASME.

关键词： Speed

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Design and Application of the Field-Bus-Based Intelligent Robot Plug and Play Sensing System

Design and Application of the Field-Bus-Based Intelligent Ro...

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First IEEE International Conference on Sensors - IEEE Sensors 2002

作者： Zhang, Jianjun Ge, Yunjian Wang, X. Song, G. Jiang, J. Dept. of Automation Univ. of Sci./Technology of China Hefei Anhui China Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui China Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China

In this paper, a novel design and application method of intelligent robot sensing system is presented in this paper. The multi-functional perceptual system consists of heterogeneous kinds of sensors, such as six-dimensional force/torque, tactile, vision, etc. Supported by the field-bus-based data acquisition and transmission technology, all the sensors work in an open connection environment, namely, plug and play format, which means any sensor node can be added into or removed from this perceptual system dynamically according to the changing requirement of each task. This function makes it much easier to adjust the structure and performance of intelligent robot. The hardware structure and processing procedures are also elaborated.

关键词： Intelligent robots

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An automated tether management system for microgravity extravehicular activities

An automated tether management system for microgravity extra...

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IEEE International Conference on robotics and automation (ICRA)

作者： M.A. Minor C.R. Hirschi R.O. Ambrose Department of Mechanical Engineering University of Utah Salt Lake UT USA Automation Robotics and Simulation Division Robotics Systems Technology Branch Houston TX USA

An automated tether system has been developed for the purpose of improving the efficiency of micro-gravity activities of fully suited astronauts. System features include gripping of multiple anchor types, remote release of the tether from an anchor, and controlled retraction of the tether. Two main mechanisms make up the system. First, a remotely releasable, self-locking robotic gripper with opposing jaws that grasps a variety of anchors such as handrails, tether loops, and guide wires. Second, an automated tether retractor that is capable of active or passive operation. Passive retractor operation saves power by emulating existing safety tether systems and active operation expedites tether retraction and allows towing.

关键词： Grippers robotics and automation Wires Automatic control Safety Control systems Space vehicles Orbital robotics Space technology Space shuttles

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Fuzzy position/vibration control of a 3-DOF rigid robot with a flexible tool

Fuzzy position/vibration control of a 3-DOF rigid robot with...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Alasty A. Sepehri Center of Excellence in Design Robotics and Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a difficult tool tip position control problem. In this paper, a new method will be presented for simultaneous tip position and vibration suppression control of a flexible tool on a rigid-link 3-DOF robot. This approach uses fuzzy logic rule-based controllers without using any sensor and actuator on the tool and with no a priori knowledge about the tool. Numerical simulation of robot and tool set has been accomplished and results support the fact that designed fuzzy controllers perform remarkably well in reducing vibrations and precision guidance of robot tool tip for tracking various trajectories.

关键词： Fuzzy control Vibration control Robot sensing systems Vibration measurement Manipulators Position control Fuzzy logic Actuators Numerical simulation Fuzzy sets

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