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2013 1st RSI/ISM International Conference on robotics and Mechatronics, ICRoM 2013

作者： Khadiv, Majid Moosavian, S. Ali A. Center of Excellence in Robotics and Control Department of Mechanical Engineering K. N. Toosi Univ. of Technology PO Box 19395-1999 Tehran Iran

ISBN: (纸本)9781467358118

Due to redundancy and natural instability of humanoid robots, their motion planning becomes a challenging task. Designing stable gaits with smooth trajectories for a humanoid robot is the main goal of this article. Taking all related parameters on robot's walking into consideration, a new gait planning approach in the task space is developed. Various aspects like upper-body motion and stability requirements have the most significant role in this new gait planning process. In order to reduce undesired fluctuations on robot center of mass a new method in trajectory planning is also suggested. To show performance of the proposed algorithm, it is compared with another reliable approach in this field, and the results will be discussed. © 2013 IEEE.

关键词： Inverse kinematics

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A decentralized self-adjusting control strategy for reactive power management in an islanded multi-bus MV microgrid

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Canadian Journal of electrical and Computer engineering 2013年第1期36卷 18-25页

作者： Hamzeh, Mohsen Mokhtari, Hossein Karimi, Houshang Center of Excellence in Power System Management and Control Sharif University of Technology Tehran 11365-9363 Iran Department of Electrical Engineering École Polytechnique de Montréal QC H3C 3A7 Canada

This paper presents a decentralized self-adjusting reactive power controller for the autonomous operation of a multi-bus medium voltage (MV) microgrid. The main objective of the proposed control strategy of each distributed generation (DG) unit is to compensate the reactive power of its local loads and to share the reactive power of the nonlocal loads among itself and other DG units. The proposed control strategy includes an improved droop controller whose parameters are adjusted according to the reactive power of the local loads. A virtual inductive impedance loop is augmented to the voltage controller to enhance the steady state and transient responses of the proposed reactive power management scheme. The small signal analysis of the proposed method is presented to ensure stability of the system for different reactive power values. The presented strategy considerably enhances the voltage profiles of the microgrid buses as compared with the conventional droop methods. The proposed method does not require any communication link and minimizes the reactive power flow in the MV lines, thus reducing the losses of the overall microgrid. The performance of the proposed control scheme is verified by using digital time-domain simulation studies in the PSCAD/EMTDC software environment. © 2013 IEEE.

关键词： controllers

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State prediction approach for master-slave agents in presence of communication delay

State prediction approach for master-slave agents in presenc...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sona Ghahremani Majid Nili Ahmadabadi Maryam S. Mirian Babak N. Araabi Member of cognitive robotics Laboratory Department of Electrical and Compo Engineering University of Tehran Iran Control & Intelligent Processing Center of Excellence Department of Electrical and Compo Engineering University of Tehran Iran Robotics and Machine Intelligence Department of Electrical and Compo Engineering University of Tehran Iran

Teleoperation is a mechanism that makes it possible to accomplish a task in an environment where the presence of the master at the slave site is either undesirable or hardly possible The communication delay is a challenge with undesirable effects, jeopardizing the teleoperated systems the most. When the salve agent is performing in a dynamically changing environment, communication delay can be very harmful since the environment is changing continuously even though the agent has stopped operating because of the delay. Many studies have been conducted to overcome time delay effects.

关键词： Robots Predictive models Switches Communications technology Delays

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3D automatic segmentation of coronary artery based on hierarchical region growing algorithm (3D HRG) in CTA data-sets

3D automatic segmentation of coronary artery based on hierar...

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2013 20th Iranian Conference on Biomedical engineering, ICBME 2013

作者： Turani, Zahra Zoroofi, Reza A. Shirani, Shapoor Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran 14395/515 Iran Department of Radiology School of Medicine Tehran University of Medical Science Tehran Iran

ISBN: (纸本)9781479932320

Nowadays one of the most important causes of mortality is cardiovascular disease, especially coronary artery stenosis. Therefore, it is important to find an accurate and fast way to diagnose them. Computed tomography angiography is a non-invasive imaging method for the heart and its vessel, which can be used instead of angiography in many cases. Indeed, the main focus is on developing an automatic method which can be as accurate as angiography with the least user's contribution. Automatic coronary artery segmentation is considered as the first step to reach this goal. Therefore, a hierarchical region growing algorithm is proposed in which the whole heart region vessels, aorta, left ventricle and other cardiovascular vessels are segmented for the purpose of coronary artery segmentation. Our method validation is assessed by a radiologist through comparing the results with manual segmentation of him. Proposed method's results are 86.81% in average similar to radiologist's segmentation in kappa statistic and its label consistency with radiologist's segmentation is 90.23%. Comparing to other methods, our method is automatic and both left and right coronary can be segmented in all data-sets. It also segments important branches of coronary artery. According to the radiologist comments and high similarity measure, proposed method is reliable and applicable. © 2013 IEEE.

关键词： Heart

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Characteristics identification of continuum robots for exact modeling

Characteristics identification of continuum robots for exact...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad Dehghani S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

Continuum robots do not have any joint in contrast to traditional articulated robots. Instead, these robots can bend, twist and stretch their backbone, to shape desired configurations and end-effector position. Therefore, exact modeling of these robots is a challenging problem, particularly in spatial deformations. This paper suggests identification of some mechanical characteristics of the backbone of continuum robots, to achieve accurate results. The importance of identification of characteristics, such as undeformed shape and modulus of elasticity, will be discussed. Then, some methods to identify these characteristics are presented. Theory of Cosserat Rod will be introduced and used for modeling continuum robotic arms in this paper. Finally, the proposed approach is used for a given robot, and the model obtained based on the identified parameters will be validated by experimental results.

关键词： Robots Temperature measurement Elasticity

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A new approach for orientation determination

A new approach for orientation determination

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

In some modeling and control problems, especially in robotics, determination of orientation of a rotating body or frame requires slow and time taking numerical calculations. In some cases, such as for continuum robots, these time-taking calculations are an impediment to real-time control. The common approaches for orientation determination, such as Euler angles or Euler parameters, are beneficial when generalized coordinates are needed. Otherwise, these approaches require some time-taking equations for calculation of the rotation matrix (direction cosine matrix). Another method is to calculate the rotation matrix directly, based on the angular velocity. Although this method is very fast, it is numerically unstable, because of accumulation of some numerical errors. In this paper, an approach is introduced that cancels these errors with the least numerical efforts, and provides high accuracies. The application and importance of this approach is studied and discussed in the case of modeling and control of continuum robotic arms, as an instance. The proposed methods are used to model a spring, as a case study. The obtained results are validated by analytic data, and are compared to the results obtained by other methods.

关键词： Vectors

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Modeling of continuum robots with twisted tendon actuation systems

Modeling of continuum robots with twisted tendon actuation s...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

In contrast to traditional articulated robots, continuum robots do not have any joints. The backbone of these robots can be bent, twisted and stretched by environmental and actuation forces. A group of continuum robotic arms use tendon-driven actuation systems. In this group, the shape of robot backbone can be controlled by pulling the tendons. Generally, exact modeling of the forces and moments produced by tendon-driven systems has no closed form solution. However, for a simplified case where the backbone shape is a planar curve with a constant curvature, some closed-form solutions have been introduced. Such solutions are valuable, especially in control applications where Jacobian matrices must be calculated. For exact modeling of elastic rods in spatial deformations, constant curvature models are not accurate. In such cases, the theory of Cosserat rod can be used for backbone modeling. Continuum robots usually consist of an elastic rod as the backbone and an actuation system. The effects of the actuation systems must be included to the model of Cosserat rod. The effects of the actuation systems are more complicated, when the tendon passages are not parallel to the backbone. In this paper, a model for continuum robotic arms is presented, which considers both, the elastic backbone and the effects of the actuation system. Furthermore, the tendons can twist around the backbone, in an arbitrary passage. The presented model is more compact than other solutions, and will be validated in a case study, by comparison with numerical results obtained from existing models.

关键词： Robots Vectors

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Dynamics modelling and stable motion control of a Ballbot equipped with a manipulator

Dynamics modelling and stable motion control of a Ballbot eq...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Pouya Asgari Payam Zarafshan S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small base that helps the robot to move in limited space. It is as tall as human height until could interact by people whereas a Ballbot has not been equipped with a manipulator. This manipulator adds new advantages to the Ballbot such as object manipulation and grasping. In this paper and to achieve more performance of a Ballbot, it is equipped with a PUMA type manipulator which gives to the proposed robot the capability of better stabilization. To this end, dynamics equations of the assumed mobile robot is presented and verified. Then, by respecting to this fact that a Ballbot is in the class of under-actuated systems, a control algorithm is proposed to attain the stable motion control of the system. Finally, a simulation routine is performed to move along the desired path/trajectory. Obtained results reveal the merits of the verified model of the new Ballbot and the considered control algorithm which will be discussed.

关键词： Manipulator dynamics

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A centralized potential field method for stable operation of a multi-robot dome inspection, repair, and maintenance system

A centralized potential field method for stable operation of...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： K. Naderi A. Nejadfard H. Moradi M. Nili Ahmadabadi School of Electrical and Computer Engineering University of Tehran Iran Control and Intelligent Processing Center of Excellence at the Electrical and Computer Engineering Department University of Tehran Iran

In this paper we propose a centralized algorithm for stable operation of a multi-robot dome inspection, repair, and maintenance based on potential field method. The multi-robot system consists of two robots, a leader robot and a supporter robot, connected to each other by two strings. The follower robot sends its information to the leader robot for processing and receiving commands. The leader robot uses the friction model, the slope of the dome detected by the two robots' tilt sensors and the mass of the robots to calculate the stability ranges and determines the proper action to make the whole system stable. The leader robot moves toward its target pose while adjusting the tension of its string using potential field method to combine the attractive and repulsive potentials. The follower robot executes the commands sent by the leader robot to create the most stable configuration for the whole system. It is shown that the algorithm can guarantee stable operation all over a typical dome. The algorithm has been implemented and shown its effectiveness in simulation. Furthermore, the effect of each parameter has been discussed and it is shown that the multi-robot system is capable of completely covering a typical dome using the proposed potential field algorithm.

关键词： Robot sensing systems Lead Maintenance engineering Radio frequency Force Service robots

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A new approach in gait planning for humanoid robots

A new approach in gait planning for humanoid robots

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Majid Khadiv S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

关键词： Trajectory Planning Joints Stability criteria Robots Foot

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