检索结果-内蒙古大学图书馆

International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Ghulam Fiza Mirza Yahya Sameen Junejo Faisal Karim Shaikh Bhawani Shankar Chowdhry Ali Akbar Shah Department of Telecommunications NED University of Engineering and Technology Karachi Pakistan Haptics Human Robotics and Condition Monitoring Lab National Center of Robotics and Automation Mehran University of Engineering and Technology Jamshoro Pakistan

In railways, one of the foremost issue is the safety of railway level crossing. Crashes related to railway level crossing lead to a great loss with respect to goods and lives. However, the existing methods used for the accidents' avoidance are manual, sensors and cameras based which possess certain drawbacks. Manual control of crossing gates is not only time-consuming but requires human labor and generate errors. Besides, camera based control systems are costly, involve experts to process the images, require human intervention, and do not provide clear images in fog/rain. On the other hand, sensors based systems have short range issues and are dependent on environmental conditions. This paper reviews the existing control systems of railway infrastructure and their classification in different countries. It then presents an automatic, novel, high range and cost-effective approach to prevent critical accidents intelligently. The novel concept avoids level crossing accidents using Internet of Things (IoT) technology. The train GPS based on-board and track controller nodes communicate to control level crossing gates and alert road users. The communication between modules (i.e., on-board train and track devices) and remote database establishes using WiFi. The review of effective communication network for critical and non-critical communication is presented with respect to mobility, capacity, coverage, availability and reliability. This research provides concept which can greatly mitigate the accidents' frequency associated with the trains, pedestrians and road vehicles on crossing using smart technologies.

关键词： Databases Roads Logic gates Cameras Rail transportation Sensor systems Reliability

来源：评论

学校读者我要写书评

暂无评论

Dynamic Heart Simulator for Ultrasound-Guided Pericardiocentesis

Dynamic Heart Simulator for Ultrasound-Guided Pericardiocent...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Kim Yan Wanquan Yan Shing Shin Cheng Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute Shun Hing Institute of Advanced Engineering The Chinese University of Hong Kong Multi-Scale Medical Robotics Center Hong Kong

Pericardiocentesis is an important surgical intervention to treat a medical condition called pericardial effusion, during which excessive fluid accumulates around the heart, potentially leading to life-threatening situation. It involves the insertion of a needle and catheter towards the heart into the pericardial space to drain the excessive fluid under ultrasound (US) guidance. The risky procedure requires surgeons to acquire sufficient training to ensure safe execution of the procedure. However, existing heart simulators lack dynamic features, do not offer realistic images under US imaging, and are not reusable. This work presents a dynamic heart simulator (DHS) with pericardial effusion to mimic the beating motion of the human heart and the realistic US imaging results. The beating heart motion is realized using a hydraulic actuation system connected to a double-layer balloon set. The clear and realistic US imaging results are obtained through a unique formula proposed for the chest tissue and the cardiac muscle. A characterization method was also developed to allow customization of important anatomical parameters in the DHS. The experimental results show that the DHS allowed highly realistic simulation of the beating heart, cardiac muscle, and pericardium under US imaging and has been demonstrated to enable successful US-guided pericardiocentesis.

关键词：

来源：评论

学校读者我要写书评

暂无评论

TrunkFlex: Enhancing Engagement in Post-Stroke Trunk Rehabilitation through a Follow-and-Stimulate Cable-Driven Robotic System

TrunkFlex: Enhancing Engagement in Post-Stroke Trunk Rehabil...

引用

International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Lufeng Chen Yingming Han Chenyang Liu Bin Li Jiacheng Huang Jing Qiu Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Center for Robotics School of Mechanical and Electric Engineering University of Electronic Science and Technology of China Chengdu China Yingcai Honors College of UESTC University of Electronic Science and Technology of China Chengdu China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Trunk rehabilitation plays a pivotal role in enhancing locomotive capacities and balance for patients with hemiplegia. In this paper, we present TrunkFlex, a cable-driven robotic system designed specifically to promote self-engagement in post-stroke trunk rehabilitation. Unlike conventional rehabilitation robots, which often interact with patients in a rigid manner, TrunkFlex incorporates a cable-driven mechanism powered by eight servo motors, allowing for versatile rehabilitation exercises. Our introduced follow-and-stimulate module, along with posture correction and speed limit modules, is integrated into the control scheme and operates in parallel to induce patient-initiated movement, thereby encouraging self-engagement and promoting a more flexible and seamless rehabilitation process. Muscle activation experiments demonstrate a significant enhancement in active engagement, as evidenced by a marked increase in muscle activity intensity compared to passive rehabilitation methods.

关键词： Mechatronics Process control Muscles Clinical trials Stroke (medical condition) Assistive robots Safety Servomotors Robots

来源：评论

学校读者我要写书评

暂无评论

Multi-microgrid Multi-energy Optimal Scheduling Strategy Based on Hybrid Energy Storage System and Sharing Technology

Multi-microgrid Multi-energy Optimal Scheduling Strategy Bas...

引用

Chinese Control and Decision Conference, CCDC

作者： Decai Zhang Huaiyu Wu Mian Hu Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

To effectively enhance the utilization of renewable energy in multi-microgrid systems while ensuring fair distribution of benefits among microgrids, this paper proposes a multi-microgrid multi-energy optimal scheduling strategy based on hybrid energy storage system (HESS) and sharing technology. Firstly, a novel multi-microgrid multi-energy shared energy storage system framework is designed, considering that a HESS is equipped with hydrogen storage system, electric boiler, heat storage tank, P2G devices and gas storage tank as well as coordinates the multi-energy sharing among microgrids. All microgrids and HESS are composed into a microgrid alliance for cooperative game. Secondly, the alternating direction method of multipliers (ADMM) is used to solve the optimal energy transaction volume and transaction price between each microgrid and HESS. Then, the asymmetric Nash negotiation (ANN) method is used to fairly distribute the benefits obtained by each subject. Finally, the simulation experiment shows that the proposed multi-microgrid multi-energy optimal scheduling strategy can not only meet the needs of various energy sources of microgrid, but also improve the utilization rate of renewable energy and the economic benefits of each subject.

关键词： Renewable energy sources Privacy Costs Simulation Microgrids Optimal scheduling Minimization

来源：评论

学校读者我要写书评

暂无评论

A Prospective Study of Haptic Feedback Method on a Lower-Extremity Exoskeleton 7th

A Prospective Study of Haptic Feedback Method on a Lower-Ext...

引用

7th International Conference on Human Aspects of IT for the Aged Population, ITAP 2021, held as part of the 23rd International Conference, HCI International 2021

作者： Wang, Yilin Qiu, Jing Cheng, Hong Wang, Lu Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu611731 China Center for Robotics School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu611731 China

ISBN: (纸本)9783030781071

Medical lower-limb exoskeleton (LLE) has been developed for rehabilitation and walking assistance. However, it lacked feedback on current status to the wearer. The patients with perception lost in lower-extremity (for example, elderly people and paraplegia patients) cannot perceive their lower extremities. Therefore, haptic feedback might be necessary for them if they wear a LLE, which might inform them of current gait state. A prospective study was conducted in this paper with a purpose of designing a vibration device for a lower-extremity exoskeleton system to feed back the current walking state of the exoskeleton to wearers. Firstly, the basic tests were conducted to collect the accuracy and reaction time of subjects based on two vibration modes (strength change and position change vibration mode). Then, the subjects wore an exoskeleton with the two vibration devices to complete walking tasks and the task completion time was recorded. The accuracy of the two vibration devices can both reach about 90%, and there was no significant difference in the reaction time. It indicated that the feedback of the two devices can be well perceived by most subjects. The results of the subjective questionnaires showed that subjects prefer the strength change mode. Although there was no significant of completion time in no-feedback and vibration-feedback modes, the questionnaires showed that exoskeleton with haptic feedback can inform the wearers current state of exoskeleton and made the subjects feel safer. In the future design, LLE with vibration devices can be considered for rehabilitation and walking assistance for the elder people and the patients with motor dysfunction in lower limbs. © 2021, Springer Nature Switzerland AG.

关键词： Surveys

来源：评论

学校读者我要写书评

暂无评论

Development of a Novel Redundant Parallel Mechanism with Enlarged Workspace and Enhanced Dexterity for Fracture Reduction Surgery

Development of a Novel Redundant Parallel Mechanism with Enl...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Quan Yuan Xu Liang Tingting Su Weibang Bai ShanghaiTech Automation and Robotics (STAR) Center School of Information Science and Technology ShanghaiTech University Shanghai China School of Automation and Intelligence Beijing Jiaotong University Beijing China Faculty of Information Technology Beijing University of Technology Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The limited workspace and complex singularity issues are predominant factors impeding the clinical applicability of fracture reduction parallel robots. To address these challenges, this paper proposes a novel redundant parallel mechanism (NRPM) for robotic-assisted fracture reduction with an enlarged workspace and enhanced dexterity capabilities based on the traditional Stewart parallel mechanism (SPM). With six redundant degrees-of-freedom (DOFs) added to the novel mechanism, the kinematics of NRPM needs to be thoroughly analyzed. Furthermore, the calculation of its workspace and determination of its dexterity are deduced. Both the analytical simulation and real experiment results demonstrated the effectiveness and superior performance of the proposed NRPM compared to SPM.

关键词： Parallel robots Force Surgery Prototypes Phantoms Kinematics Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Stackelberg Game-Based Optimal Scheduling Strategy for Multi-Microgrid Systems with Electricity-Heat Shared Energy Storage

Stackelberg Game-Based Optimal Scheduling Strategy for Multi...

引用

Chinese automation Congress (CAC)

作者： Chao Peng Decai Zhang Mian Hu Huaiyu Wu Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

To address the challenges of the complexity of electricity-heat coupling, the pollution of carbon emissions, the security of privacy information, and the uncertainty of renewable energy generations (REGs), this paper proposes a novel multi-microgrid electricity-heat shared energy storage system framework, considering that the integrated energy storage operator (IESO) is equipped with electric boiler and two types of energy storage (i.e., electrical energy storage and heat energy storage) devices, and each microgrid (MG) is equipped with combined heat and power system that coupled carbon capture system and power-to-gas device. Latin hypercube sampling is used to deal with the uncertainty of REGs. A distributed bi-level iterative algorithm based on Stackelberg game theory is designed, which effectively protects the users' privacy information, and finally a Stackelberg equilibrium strategy is obtained, where the IESO and each MG minimize its operating cost. Simulation results show that the proposed optimal scheduling strategy can effectively reduce the operating cost and carbon emissions of each MG, and increase the benefits of the IESO.

关键词： Privacy Uncertainty Costs Cogeneration Optimal scheduling Microgrids Thermal pollution Iterative methods Energy storage Resistance heating

来源：评论

学校读者我要写书评

暂无评论

Fractional-order global fast terminal sliding mode control strategy for fractional-order hydraulic turbine regulating system

Fractional-order global fast terminal sliding mode control s...

引用

第42届中国控制会议

作者： Shiyu Xi Zhihuan Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

Hydraulic turbine regulating system(HTRS) directly affects the safety and stability of hydro-generator units. In this paper, the control and modeling problems of the HTRS are mainly investigated based on the fractional-order theory, aiming to design a novel control strategy to raise the dynamic response of the HTRS and ensure the frequency stability of the hydrogenerator units. Firstly, a nonlinear model of the fractional-order HTRS is established mathematically. Secondly, a fractionalorder global fast terminal sliding mode controller is designed to improve the dynamic performance as well as the robustness of the system. Finally, relevant simulations are carried out to illustrate the effectiveness and rationality of the proposed control strategy in comparison with two other fractional-order control strategies.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Global Stabilization of Antipodal Points on n-Sphere with Application to Attitude Tracking

arXiv

引用

arXiv 2023年

作者： Tong, Xin Cheng, Shing Shin Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering CUHK T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center The Chinese University of Hong Kong Hong Kong

Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit n-sphere Sn typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space. However, when switching faults occur due to parameter errors, the non-centrally synergistic property can lead to the unwinding problem or in some cases, destabilize the desired set. In this work, a hybrid controller is first proposed based on a novel centrally synergistic family of potential functions on Sn, which is generated from a basic potential function through angular warping. The synergistic parameter can be explicitly expressed if the warping angle has a positive lower bound at the undesired critical points of the family. Next, the proposed approach induces a new quaternion-based controller for global attitude tracking. It has three advantageous features over existing synergistic designs: 1) it is consistent, i.e., free from the ambiguity of unit quaternion representation;2) it is switching-fault-tolerant, i.e., the desired closed-loop equilibria remain asymptotically stable even when the switching mechanism does not work;3) it relaxes the assumption on the parameter of the basic potential function in literature. Comprehensive simulation confirms the high robustness of the proposed centrally synergistic approach compared with existing non-centrally synergistic approaches. © 2023, CC BY-NC-ND.

关键词： Hybrid systems

来源：评论

学校读者我要写书评

暂无评论

Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study

Whole Body Control Formulation for Humanoid Robots with Clos...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Sait Sovukluk Johannes Englsberger Christian Ott Automation and Control Institute (ACIN) TU Wien Vienna Austria German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany

This study extends the whole-body control (WBC) formulation for bipedal humanoid robots that include closed (parallel) kinematic chains in their structure. Along with general formulation, we also stress the implementation of this formulation on Kangaroo, which is a highly dynamic humanoid robot developed by PAL robotics. This 76-DOF robot includes 24 independent closed-kinematic chains in its structure and constitutes a good case study for our approach. We discuss the WBC formulation for various control structures, including inverse dynamics control (IDC) and Modular Passive Tracking Control (MPTC). As a test scenario, we employ a 3D spring-loaded inverted pendulum (SLIP) jumping trajectory with disturbance rejection as the desired CoM trajectory.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：