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International Microsystems, Packaging, Assembly and Circuits Technology (IMPACT)

作者： Jen-Yi Chen Shu-Sheng Lee Peter Chang Chun-Hsun Chu Tamal Mukherjee Gary K. Fedder Microsystems Technology Center Industrial Technology and Research Institute Taiwan Department of Systems and Naval Architecture Engineering National Taiwan Ocean University Taiwan Department of Electrical and Computer Engineering USA Carnegie Mellon University Pittsburgh PA USA The Robotics Institute Case Western Reserve University USA

The transistor-level elements for condenser microphone design have been implemented in an IC design environment. Arbitrary diaphragm shapes can be composed and simulated by using our basic elements. The sensitivity and frequency response are obtained by co-simulation with the microphone and the readout circuit using Cadence/Spectre reg simulator. The new model is capable of dealing with the multi-field coupling effects including acoustical, mechanical and electrostatic behavior. Comparing to the ANSYS static simulation by using shell63 elements, our design model gives matched results based on the same mesh condition. Both the finite element analysis and theoretical calculated natural frequency agree with the nodal simulation results. Co-simulation enables trade-off analysis between the acousto-electro-mechanical and electronic design parameters. Furthermore, this platform provides a unified design interface between mechanical and electrical engineers, which is critical for top-down design of monolithic microsystems.

关键词： Microphones Circuit simulation Shape Frequency response Coupling circuits Electrostatics Finite element methods Analytical models Acoustical engineering Design engineering

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Ubiquitous Robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots Robot sensing systems Intelligent robots Intelligent sensors computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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Using the Waseda Bioinstrumentation System WB-1R to analyze Surgeon’s performance during laparoscopy - towards the development of a global performance index -

Using the Waseda Bioinstrumentation System WB-1R to analyze ...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Massimiliano Zecca Filippo Cavallo Minoru Saito Nobutsuna Endo Yu Mizoguchi Stefano Sinigaglia Kazuko Itoh Hideaki Takanobu Giuseppe Megali Oliver Tonet Paolo Dario Andrea Pietrabissa Atsuo Takanishi Institute for Biomedical Engineering ASMeW Waseda University Shinjuku Tokyo Japan Scuola Superiore Sant'Anna CRIM Pisa Italy Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Modern Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan Center for Computer Assisted Surgery EndoCAS Pisa Italy Department of Modern Mechanical Engineering Humanoid Robotics Institute (HRI) Advanced Research Institute for Science and Engineering Waseda University Shinjuku Tokyo Japan

Minimally invasive surgery (MIS) has become very common in recent years, thanks to the many advantages it provides for patients. Since it is difficult for surgeons to learn and master this technique, several training methods and metrics have been proposed, both to improve the surgeon's abilities and also to assess his/her skills. This paper presents the use of the WB-1R (Waseda bioinstrumentation system no.1 refined), which was developed at Waseda University, Tokyo, to investigate and analyze a surgeon's movements and performance. Specifically, the system can measure the movements of the head, the arms, and the hands, as well as several physiological parameters. In this paper we present our experiment to evaluate a surgeon's ability to handle surgical instruments and his/her depth perception using a laparoscopic view. Our preliminary analysis of a subset of the acquired data (i.e. comfort of the subjects; the amount of time it took o complete each exercise; and respiration) clearly shows that the expert surgeon and the group of medical students perform very differently. Therefore, WB-1R (or, better, a newer version tailored specifically for use in the operating room) could provide important additional information to help assess the experience and performance of surgeons, thus leading to the development of a global performance index for surgeons during MIS. These analyses and modeling, moreover, are an important step towards the automatization and the robotic assistance of the surgical gesture.

关键词： Performance analysis Surges Laparoscopes robotics and automation Humanoid robots Management training Minimally invasive surgery Intelligent robots USA Councils

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Modeling, parameters identification, and control of an electronic throttle control (ETC) system

Modeling, parameters identification, and control of an elect...

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International Conference on Intelligent and Advanced Systems, ICIAS

作者： R. N. K. Loh T. Pornthanomwong J. S. Pyko A. Lee M. N. Karsiti Center for Robotics and Advanced Automation Department of Electrical and Computer Engineering Oakland University Rochester MI USA Electrical & Electronic Systems Architecture CIMS 484-08-06 Chrysler LLC Auburn Hills MI USA Electrical & Electronic Engineering Universiti Teknologi Petronas Bandar Seri Iskandar Tronoh Perak Malaysia

The modeling, parameters identification, and linear and nonlinear feedback control designs of an electronic throttle control (ETC) system is considered. A commercially available ETC system made by Bosch is selected for our investigation. The unknown parameters identified are used in designing linear and nonlinear controllers. Simulations and extensive experiments were conducted. A real-time linear controller was implemented with the xPC Target. The ETC model is then extended to a separately excited nonlinear DC motor model. The nonlinear controller is designed using the input-output feedback linearization technique; the extension proves to be of solid theoretical value. The results presented in this paper can be considered as an interesting and important case study encompassing system modeling, parameters identification, linear and nonlinear controller designs, and real-time control. The techniques and methodology developed are applicable to similar and/or other types of systems.

关键词： DC motors Torque Mathematical model Springs Friction Biological system modeling Real time systems

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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A new architecture to execute CAs-based path-planning algorithm in mobile robots

A new architecture to execute CAs-based path-planning algori...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Akbarimajd, Adel Lucas, Caro Robotics and AI Lab. Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)0780397134

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts;it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts © 2006 IEEE.

关键词： Algorithms

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Mobile scanning system for the fast digitization of existing roadways and structures

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Sensor Review 2006年第4期26卷 283-289页

作者： Grinstead, Brad Sukumar, Sreenivas Page, David Koschan, Andreas Gorsich, David Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN United States US Army RDECOM Tank-Automotive Research Development and Engineering Center Warren MI United States

Purpose - To present a Mobile Scanning System for digitizing three-dimensional (3D) models of real-world terrain. Design/methodology/approach - A combination of sensors (video, laser range, positioning, orientation) is placed on a mobile platform, which moves past the scene to be digitized. Data fusion from the sensors is performed to construct an accurate 3D model of the target environment. Findings - The developed system can acquire accurate models of real-world environments in real time, at resolutions suitable for a variety of tasks. Originality/value - Treating the individual subsystems of the mobile scanning system independently yields a robust system that can be easily reconfigured on the fly for a variety of scanning scenarios. © Emerald Group Publishing Limited.

关键词： Analog to digital conversion

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Learning Distributed Object Pushing: Individual Learning and Distributed Cooperation Protocol

Learning Distributed Object Pushing: Individual Learning and...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics and AI Lab Department of Electrical and Computer Engineering University of Tehran Iran

In this paper we study learning in cooperative object pushing systems. The proposed approach is based on the idea of learning individual skills and then mapping the required cooperative behaviors on the learned skills. The control point for each individual robot is chosen so as to simplify the design of the reinforcement signal and reduce the role of delayed reward on individual learning in addition to make cooperative protocol simpler. A fuzzy Q-learning system for learning individual object pushing is proposed, together with a method for coordination among the robots to push the object cooperatively. The coordination method takes into account the dynamics of the object and the learned individual skills. The idea of the coordination protocol is based on the notion of ability and active regions defined in this paper. In effect, the cooperation protocol is mapped to a Q-value based policy. Simulation results supportively show that the robots learn individual and cooperative object pushing efficiently

关键词： Protocols Robot kinematics Intelligent robots Fuzzy systems Learning Friction Control systems Artificial intelligence Robot control Fuzzy control

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A New Architecture to Execute CAs-Based Path-Planning Algorithm in Mobile Robots

A New Architecture to Execute CAs-Based Path-Planning Algori...

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International Conference on Mechatronics (ICM)

作者： Adel Akbarimajd Caro Lucas Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts; it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts

关键词： Path planning Mobile robots Robot kinematics Content addressable storage Lattices computer architecture Orbital robotics Automata Intelligent sensors robotics and automation

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