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IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Shugen Ma N. Tadokoro K. Inoue Bin Li Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

ISBN: (纸本)078037925X

Snakes perform many kinds of movement adapted to environments. Utilizing the snake as a model, we have developed a 2-dimensional snake-like robot that emulates a snakes' function. To make our robot move optimally while adapting to the slope environment, in this study we discussed the influence of the inclining angle of the slope to the creeping locomotion of the robot and derived its optimal creeping locomotion curves that adapted to the given slopes.

关键词： Robots robotics and automation Shape systems engineering and theory Content addressable storage Ice Motion analysis Computational modeling Analytical models

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Ground condition sensing of a snake-like robot

Ground condition sensing of a snake-like robot

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IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Yang Lu Shugen Ma Bin Li Li Chen Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences China Department of Systems Engineering Ibaraki University Japan

ISBN: (纸本)078037925X

Snake-like robot has its unique locomotion mode and can change its locomotion form while the ground condition changed, to achieve the best velocity and efficiency. We first analyze the snake-like robot's locomotion on different terrains simply, then point out the significance to sense the ground status that is the base of choosing different locomotion form on different ground. Last we use force sensors to distinguish the different ground status.

关键词： Robot sensing systems Propulsion Friction Mobile robots Orbital robotics Prototypes Legged locomotion Kinematics Wheels Crawlers

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European Control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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Analysis of traveling wave locomotion of snake robot

Analysis of traveling wave locomotion of snake robot

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IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Li Chen Yuechao Wang Shugen Ma Bin Li Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

ISBN: (纸本)078037925X

The mechanism of traveling wave locomotion of a snake robot was analyzed in the paper. Its kinematics model was founded and a modified control strategy was conducted in a reconfigurable snake robot. The results shows that in one period the locomotion can be divided into four phases according to the number of joints contacting with the supporting plane, and the resultant force of the friction forces on contacting joints generates locomotion. The modified control method can form smoother body curve and generate the accelerated or decelerated locomotion. Experimental results show that using traveling wave locomotion the robot is able to go forward and backward, and turn around, especially can move in a narrow site and some partial unstructured environments. The maximum linear velocity that can obtain is 0.04 m/s, the slope of the inclined plane that can be climbed is 20/spl deg/ on a carpet, the maximum wideness of gap that can be crossed is 0.14 m, and the minimum diameter of the pipe that can be gone through is 0.06 m.

关键词： Friction Mobile robots Wheels Shape systems engineering and theory Acceleration Robustness Propulsion Tail

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An adaptive velocity estimation approach for improved disk drive control performance

An adaptive velocity estimation approach for improved disk d...

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Annual Conference of Industrial Electronics Society

作者： F. Janabi-Sharifi A. Shademan Robotics and Manufacturing Automation Laboratory Department of Mechanical AeroSpace and Industrial Engineering Ryerson University Toronto Canada Signal and Image Processing Group School of Intelligent Systems IPM Niavaran Tehran Iran

For disk servo system design, it is desired to optimize data storage and transfer subject to the constraints imposed by the servomechanism including velocity estimation and control algorithm, disk space, the actuator, and other limiting factors. Therefore, positioning the head with high accuracy, speed, and reliability is of significant importance. Since velocity estimation is essential for many disk servomechanisms, the quality of head positioning will be governed by the accuracy, speed and reliability of the velocity estimation methods employed. In this paper, adaptive windowing techniques for discrete velocity estimation in disk drives are introduced. The methods are compared with conventional techniques such as finite difference method and Kalman filtering using the introduced measures. It is shown that the proposed techniques generate relatively accurate and reliable estimates with reduced time delays and lower amplitude distortions when compared with the previous methods. Finally, it is demonstrated that the proposed techniques improve the control performance of the disk servo systems.

关键词： Programmable control Adaptive control Disk drives Velocity control Servomechanisms Control systems Constraint optimization Design optimization Memory Actuators

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Adaptive velocity estimation for disk drive head positioning

Adaptive velocity estimation for disk drive head positioning

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： A. Shademan F. Janabi-Sharifi Signal and Image Processing Group School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Robotics and Manufacturing Automation Laboratory Department of Mechanical Aerospace and Industrial Engineering Ryerson University Toronto ONT Canada

With the rapid increase of data areal density in disk drives, the need for more accurate position sensing and velocity estimation techniques for the disk drive head actuator emerges. This paper studies the application of velocity estimation methods for disk drive head positioning servo-mechanism with a focus on adaptive windowing velocity estimation. The adaptive windowing technique requires no prior knowledge of measurement noise and shows a better performance compared to conventional finite difference method and Kalman filtering technique. We have compared the performance of adaptive velocity estimation methods under study over a noisy position trajectory in terms of measures for error statistics and undesired shifting. The undesired shifting measure has been developed to reflect the estimation delay and outliers. The simulation results show the superiority of adaptive windowing velocity estimation to conventional methods.

关键词： Disk drives Delay estimation Actuators Noise measurement Finite difference methods Kalman filters Adaptive filters Filtering Position measurement Velocity measurement

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Control of a 3-dimensional snake-like robot for analysis of sinus-lifting motion

Control of a 3-dimensional snake-like robot for analysis of ...

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SICE Annual Conference

作者： Y. Ohmameuda Shugen Ma Department of Systems Engineering Ibaraki University Hitachi Japan Robotics Laboratory CAS Shenyang Institute of Automation Shenyang China

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. The aim of this study is to elucidate a 3-dimensional motion of the snake, sinus-lifting motion, which is a phenomenon observed during rapid motion of the snake. The sinus-lifting creeping motion is an adaptive function peculiar to regular creeping motion, designed to prevent slippage in the normal direction of the body and to allow application of the greatest possible motive force. In this paper, we first discuss the controllability of the snake robot for analysis of sinus-lifting creeping mode. We utilized a 3-dimensional snake robot model to show the controllability of the robot through the computer simulation.

关键词： Motion control Motion analysis Mobile robots Controllability robotics and automation Computer simulation Shape control Wheels Automatic control Biological control systems

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H/sub 2/ control for uncertain time-delay fuzzy systems

H/sub 2/ control for uncertain time-delay fuzzy systems

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IEEE International Conference on systems, Man and Cybernetics

作者： Huaping Liu Fuchun Sun Kezhong He Zengqi Sun Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

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Development of a creeping locomotion snake robot

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International Journal of robotics and automation 2002年第4期17卷 146-153页

作者： Ma, S. Araya, H. Li, L. Department of Systems Engineering Faculty of Engineering Ibaraki University 4-12-1 Naka-Narusawa-Cho Hitachi-Shi Ibaraki 316-8511 Japan Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences 114 Nanta Street Shenyang 110015 China

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments, such as on the marshland or in narrow tubes. Using these snakes' noticeable features into robots is becoming more important for generating a new type of locomotor and expanding the function of robots. In this article, we introduce a 12-links snake-like robot, which is moved through the difference between normal and tangential friction. The propelling force of our robot is generated only by swinging its joints from side to side.

关键词： Mobile robots

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Corrective maintenance maturity model (CM/sup 3/): maintainer's education and training

Corrective maintenance maturity model (CM/sup 3/): maintaine...

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International Conference on Software Engineering (ICSE)

作者： M. Kajko-Mattsson S. Forssander U. Olsson Software Maintenance Laboratory Department of Computer and Systems Sciences Royal Institute of Technology Stockholm University Sweden Software Maintenance Laboratory ABB Robotics AB Sweden Software Maintenance Laboratory ABB Automation Products AB Sweden

ISBN: (纸本)0769510507

What is the point of improving maintenance processes if the most important asset, people, is not properly utilised? Knowledge of the product(s) maintained, maintenance processes and communications skills is very important for achieving quality software and for improving maintenance and development processes. We present CM/sup 3/: Maintainer's Education and Training-a maturity model for educating and training maintenance engineers. This model is the result of a comparative study of two industrial processes utilised at ABB, and of process models such as IEEE 1219, ISO/IEC 12207, CMM, People CMM, and TickIT.

关键词： Software maintenance Capability maturity model Educational products Maintenance engineering Coordinate measuring machines robotics and automation Software quality Laboratories Industrial training Computer science education

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