检索结果-内蒙古大学图书馆

19th Int. Conf. Design Theory and Methodology and 1st Int. Conf. Micro and Nano Systems, presented at - 2007 ASME International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE2007

作者： Sadeghian, Hoda Salarieh, Hassan Arjmand, Mehdi Tabe Alasty, Aria Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology PO Box 11365-9567 Tehran Iran

ISBN: (纸本)0791848043

The taping mode Atomic Force Microscopic (T-AFM) can be properly described by a sinusoidal excitation of its base and nonlinear potential interaction with sample. Thus the cantilever may cause chaotic behavior which decreases the performance of the sample topography. In this paper a nonlinear delayed feedback control is proposed to control chaos in a single mode approximation of a T-AFM system. Assuming model parameters uncertainties, the first order Unstable Periodic Orbits (UPOs) of the system is stabilized using the sliding nonlinear delayed feedback control. The effectiveness of the presented methods is numerically verified and the results show the high performance of the controller. Copyright © 2007 by ASME.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Performance difference of Bowden Cable relocated and non-relocated master actuators in virtual environment applications

Performance difference of Bowden Cable relocated and non-rel...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Schiele Mechanical Engineering Department Automation and Robotics Section Noordwijk Netherlands

ISBN: (纸本)9781424420575

It is the goal of this paper to present performance differences between a Direct Drive master actuator (DD) and a Bowden Cable relocated master actuator (BCD) in a typical force-feedback tele-manipulation experiment with a virtual slave. The BCD actuator is a candidate actuator for implementation in a wearable exoskeleton, in order to reduce mass and inertia on each joint of the movable structure. The BCD performance matches the one of the DD in terms of torque and position tracking in a 4 channel control. The maximum rendered contact stiffness is suitable for implementation in the ESA human arm exoskeleton, with a maximum of about 36 Nm/rad. When, instead of the DD, a relocated BCD actuator is implemented in an exoskeletons movable structure, the mechanical output power-density can be increased by more than 5 fold up to 31 mNm/cm 3 , with comparable performance. The specific power is then increased by more than 6 fold, to 13 Nm/kg. The Bowden Cable transmission wrapping angle alters the free movement friction only marginally by about 50 mNm only. The tracking performances are hardly affected and the contact stiffness increases with increasing wrapping angle. Transmission wrapping angles of up to 270 Deg. are tested.

关键词： Actuators Torque Joints Wrapping Friction Haptic interfaces Sensors

来源：评论

学校读者我要写书评

暂无评论

Synthesis of constrained nr planar robots to reach five task positions 3rd

引用

3rd International Conference on robotics Science and Systems, RSS 2007

作者： Soh, Gim Song McCarthy, J. Michael Robotics and Automation Laboratory University of California IrvineCA92697-3975 United States Department of Mechanical and Aerospace Engineering University of California IrvineCA92697-3975 United States

ISBN: (纸本)9780262524841

In this paper, we design planar nR serial chains that provide one degree-of-freedom movement for an end-effector through five arbitrarily specified task positions. These chains are useful for deployment linkages or the fingers of a mechanical hand. The trajectory of the end-effector pivot is controlled by n-1 sets of cables that are joined through a planetary gear system to two input variables. These two input variables are coupled by a four-bar linkage, and the movement of the end-effector around its end joint is driven by a second four-bar linkage. The result is one degree-of-freedom system. The design of the cabling system allows control of the shape of the chain as it moves through the task positions. This combines techniques of deployable linkage design with mechanism synthesis to obtain specialized movement with a minimum number of actuators. Two example designs for a 6R planar chain are presented, one with a square initial configuration and a second with a hexagonal initial configuration.

关键词： End effectors

来源：评论

学校读者我要写书评

暂无评论

Fast algorithm for blind estimation of tip shape for atomic force microscope

Fast algorithm for blind estimation of tip shape for atomic ...

引用

2008 8th IEEE Conference on Nanotechnology, IEEE-NANO

作者： Yuan, Shuai Xi, Ning Dong, Zaili Miao, Lei Wang, Yuechao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate University of the Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University United States Department of Electrical and Computer Engineering Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781424421046

Imaging quality of nano scales produced by atomic force microscope (AFM) seriously depends on the shape of the probe tip. Commonly, the distortions will be induced when the probe tip scans material surfaces. This situation could hinder nano-observation and nano-operation. In order to obtain the actual observing image, one of the existing methods for solving this problem is the blind evaluation of the probe tips. Through this method, the shape of a probe tip can be described, and then the scanned image produced by the probe can be improved by the known tip shape. Since the traditional algorithm of tip blind evaluation is extremely time-consuming, a new algorithm that can significantly reduce the computational time, is presented in this paper. The experimental results demonstrate that the new algorithm is much more efficient compared to the existing methods. © 2008 IEEE.

关键词： Image enhancement

来源：评论

学校读者我要写书评

暂无评论

An explicit model to predict and interpret constraint force creation in pHRI with exoskeletons

An explicit model to predict and interpret constraint force ...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Andre Schiele Mechanical Engineering Department Automation & Robotics Section European Space Agency Noordwijk AZ Netherlands

It is the goal of this paper to introduce an analytical model that allows predicting and interpreting the characteristics of constraint forces generated by misaligned joint axes between human operators and wearable robots during physical human-robot interaction (pHRI). The pHRI model is based on geometric parameters that describe the combined human-robot system. It is applied in this paper to measured constraint forces from a pHRI experiment. The model is validated with the experimental data. The geometrical model parameters are identified from force and position measurements by non-linear parameter optimization. The attachment stiffness and the actual offsets between the exoskeleton and the human joints are estimated. For the tested subject, the stiffness reaches 222 N/m and constraint forces are shown to be in the order of plusmn 10 N. It is shown in this paper how an ergonomically designed wearable robot with passive compensation joints can reduce such interaction forces.

关键词： Predictive models Exoskeletons Humans Kinematics Medical treatment Force measurement Safety Rehabilitation robotics Injuries Automatic control

来源：评论

学校读者我要写书评

暂无评论

IEEE Transactions on Haptics: Editorial

引用

IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

No abstract available

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Adaptive UKF Algorithm for the State and Parameter Estimations of a Mobile Robot

引用

自动化学报 2008年第1期34卷 72-79页

作者： SONG Qi HAN Jian-Da Robotics Laboratory Shenyang Institute of Automation Chi-. nese Academy of Sciences Shenyang 110016 P.R. China Department of Auto-control Shenyang Institute of Aeronautical Engineering Shenyang 110136 P.R. China

For improving the estimation accuracy and the convergence speed of the unscented Kalman filter(UKF),a novel adaptive filter method is *** error between the covariance matrices of innovation measurements and their corresponding estimations/predictions is utilized as the cost *** the basis of the MIT rule,an adaptive algorithm is designed to update the covariance of the process uncertainties online by minimizing the cost *** updated covariance is fed back into the normal *** an adaptive mechanism is intended to compensate the lack of a priori knowledge of the process uncertainty distribution and to improve the performance of UKF for the active state and parameter *** asymptotic properties of this adaptive UKF are *** are conducted using an omni-directional mobile robot,and the results are compared with those obtained by normal UKF to demonstrate its effectiveness and advantage over the previous methods.

关键词：卡尔曼滤波器算法移动式遥控装置状态估计参数估计过程协方差

来源：评论

学校读者我要写书评

暂无评论

A battery state of charge estimation method with extended Kalman filter

A battery state of charge estimation method with extended Ka...

引用

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008

作者： Zhang, Fei Liu, Guangjun Fang, Lijin IEEE State Key Laboratory of Robotics Shen Yang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province China Department of Aerospace Engineering Ryerson University Toronto Canada Graduate University Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781424424955

In this paper, a battery State of Charge (SOC) estimation method based on the extended Kalman filter is proposed. In some known battery SOC estimation methods, it is assumed that the relationship between battery open circuit voltage and SOC is linear and static. However, this relationship is only piecewisely linear in practice and varies with the ambient temperature, as assumed in this work. The proposed model assumption matches better with the real battery behavior. A battery is modeled as a nonlinear system, with the SOC defined as a system state. The extended Kalman filter is applied to estimate SOC directly for a lithium battery pack. The effectiveness of the proposed method is verified on a power transmission line inspection robot. The experimental results verify the effectiveness of the proposed method. © 2008 IEEE.

关键词： Extended Kalman filters

来源：评论

学校读者我要写书评

暂无评论

From discrete to continuous and back: Abstractions and mesoscopic phenomena in cells

From discrete to continuous and back: Abstractions and mesos...

引用

International Workshop on Discrete Event Systems, WODES

作者： Adam M. Halasz Julius A. Agung George Pappas Vijay Kumar Department of Mechanical Engineering and Applied Mechanics General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA Department of Electrical and Systems Engineering University of Pennsylvania General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA

We discuss the interplay between stochasticity and multistability in bio-molecular networks. The resulting cell-level stochastic behavior reflects the fundamentally discrete and random nature of the underlying molecular processes. These ideas are illustrated on the well studied example of the lac operon. We first describe the switching behavior predicted by a differential-equation based model and then show how cell-level stochastic behavior emerges. Finally we point out that the observed macroscopic behavior may not be enough to determine both the dynamic and stochastic parameters.

关键词： Discrete event systems Conferences

来源：评论

学校读者我要写书评

暂无评论

Design and control of a manipulator arm driven by pneumatic muscle actuators

Design and control of a manipulator arm driven by pneumatic ...

引用

Mediterranean Conference on Control and automation (MED)

作者： Zeljko Situm Srecko Herceg Department of Robotics and Automation of Production Ststems Faculty of Mechanical Engineering and Naval Architecture University of Zagreb Zagreb Croatia

It seems that the pneumatic artificial muscles (PAMs) have a very great potential in industrial applications for the actuation of new types of robots and manipulators. Their properties such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity are worthy features in advanced robotics. In this paper we describe the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic muscle actuators. An antagonistic muscle pair is used in a linear translational sense to produce a force or in a rotational sense to produce a required torque on the pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. A nonlinear mathematical model of the manipulator arm driven by pneumatic artificial muscles and controlled with proportional control valve is derived, which is used in a numerical simulation program. The experiments were carried out on practically realized manipulator actuated by pair of muscle actuators set into antagonism configuration.

关键词： automation Conferences

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：