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Active vibration control using piezoelectric actuator: Implementation of ant colony optimization technique in virtual experimentation

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International Journal of Simulation: systems, Science and Technology 2014年第3期15卷 57-62页

作者： Nor, Khairul A. M. Muthalif, Asan G. A. Wahid, Azni N. Smart Structures Systems and Control Research Laboratory Department of Mechatronics Engineering International Islamic University Malaysia Jalan Gombak Kuala Lumpur Malaysia

This paper demonstrates the implementation of virtual experiment using COMSOL Mutiphysics – MATLAB integration for optimization in active vibration control system. The benchmark model is a simply supported thin plate excited and attenuated by two piezoelectric patches. Instead of using equation-based modeling to represent the system, optimization of the sensor-actuator location and controller gains are conducted directly on the finite element model in COMSOL Multiphysics via Livelink for MATLAB function. The optimization is based on the average energy reduction across a frequency range between 11 Hz to 50 Hz, which covers the first three modes. It is found that the maximum attenuation achieved is 68.31% using optimal values of sensoractuator location and controller gains. © 2014, UK Simulation Society. All rights reserved.

关键词： Multiphysics

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Performance evaluation of force feedback for the improved vascular interventional robotic system

Performance evaluation of force feedback for the improved va...

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IEEE International Conference on mechatronics and Automation

作者： Lin Shao Jian Guo Shuxiang Guo Yang Yu Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781479970995

Currently, the study of the vascular interventional surgery (VIS) robot becomes more and more popular, which is to improve the safety of the surgery. In this paper, a novel master-slave robotic catheter system has been proposed for the VIS. The system uses MR (magneto rheological) fluid to implement force feedback. The force feedback to the operator on the master side is very important to improve the safety of the surgery. The damper is a piston structure with MR fluid. The coil winds around the piston. When the piston is moving in the piston cylinder, the resistance to the piston will appear as a certain amount of current applied to the coil. We can realize the force feedback by this way. The surgeon can feel the force through the operating catheter connected with the damper, which seems that the surgeon operates the catheter beside the patient. The force feedback evaluation experiments of the damper were done. The error between the detected force and the damping force is in the allowable range. The maximum of error is lower than 0.1N. According to a research presenting that the force larger than 0.12N will injure the vessel, it indicates that the error can meet our design requirement. The experimental results indicated that the damper was effective for realizing the force feedback of the master-slave system. It can provide force feedback to the surgeon in real time.

关键词： Catheters Force Force feedback Shock absorbers Surgery Pistons Fluids

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Kinematic analysis on land of an amphibious spherical robot system

Kinematic analysis on land of an amphibious spherical robot ...

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IEEE International Conference on mechatronics and Automation

作者： Lin Bi Jian Guo Shuxiang Guo Zhendong Zhong Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan

ISBN: (纸本)9781479970995

The amphibious robots have been widely applied in kinds of fields, such as fishery industry, data collecting, submarine salvage and military etc. In this paper, we focus on a novel amphibious spherical robot system. In order to verify the kinematics characteristics of the amphibious robot, the Jacobian matrix based on the Denavit-Hartenberg parameters method, which can reflect the relation between velocity and angular velocity of the joint, can be obtained. The Jacobian matrix offers theoretical foundation for the following simulation analysis based on virtual prototype. We use 3D mechanical modelling software Solidworks to establish a model and import it into dynamics simulation software ADAMS (Automatic Dynamic Analysis of Mechanical systems). And then the joint simulation experimental data, such as the position, velocity and acceleration which can validate the feasibility of the walking gait planning. In the course of carrying on simulation we can carry on simulation course observing model altering and result treating. And get the walking speed of amphibious robot at the same time. Lastly, some experiments demonstrate that simulation results coincide with the result of kinematic analysis. The results prove that the simulation in ADAMS can be accurate to describe the kinematic characteristics of the robot.

关键词： Legged locomotion Robot kinematics Joints Kinematics Robot sensing systems Solid modeling

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Dynamic control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on control systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis control systems Real-time systems Robot kinematics Dynamics

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Real time object tracking via a mixture model

Real time object tracking via a mixture model

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Dongxu Gao Zhaojie Ju Jiangtao Cao Honghai Liu Intelligent Systems and Biomedical Robotics group School of Computing’ University of Portsmouth Portsmouth England Department of Information and Control Engineering Liaoning Shihua University Fushun Liaoning China

Object tracking has been applied in many fields such as intelligent surveillance and computer vision. Although much progress has been made, there are still many puzzles which pose a huge challenge to object tracking. Currently, the problems are mainly caused by appearance model as well as real-time performance. A novel method was been proposed in this paper to handle both of these problems. Locally dense contexts feature and image information (i.e. the relationship between the object and its surrounding regions) are combined in a Bayes framework. Then the tracking problem can be seen as a prediction question which need to compute the posterior probability. Both scale variations and temple updating are considered in the proposed algorithm to assure the effectiveness. To make the algorithm runs in a real time system, a Fourier Transform (FT) is used when solving the Bayes equation. Therefore, the MMOT (Mixture model for object tracking) runs in real-time and performs better than state-of-the-art algorithms on some challenging image sequences in terms of accuracy, quickness and robustness.

关键词： Computational modeling Image color analysis Hidden Markov models Computer vision Object tracking Pattern recognition Real-time systems

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H_∞ control for a Smart Micro-Positioning System with an Analytical Model for the Output of the Inverse Compensation

H_∞ Control for a Smart Micro-Positioning System with an An...

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American control Conference

作者： Micky Rakotondrabe Omar Aljanaideh Mohammad Al Janaideh Department of Automatic Control and Micro-Mechatronic Systems department (AS2M) FEMTO-ST Institute CNRS - University of Franche-Comt at Besanon (UFC) - ENSMM - UTBM Besanon France Department of Mechanical Engineering The University of Jordan Amman 11942 Jordan Department of Mechatronics Engineering The University of Jordan Amman 11942 Jordan

ISBN: (纸本)9781479917730

An experimental study was carried out on a piezoelectric actuator in order to explore the benefits of a mathematical formula [1], that describes the output of the inverse compensation when an inverse Prandtl-Ishlinskii hysteresis model is applied as a feedforward compensator. The inverse Prandtl-Ishlinskii was first formulated and applied for compensation of hysteresis nonlinearities of a piezoelectric actuator. The theoretical formula was afterwards employed to construct an H_∞ feedback control. The controller was calculated and applied to the piezoelectric actuator with the inverse feedforward model. The experimental results verify the effectiveness of the controller and the benefits that the theoretical formula of the inverse compensation can contribute.

关键词： Hysteresis Piezoelectric actuators Feedforward neural networks Adaptive control Standards

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Performance evaluation of the wireless micro robot in the fluid

Performance evaluation of the wireless micro robot in the fl...

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IEEE International Conference on mechatronics and Automation

作者： Nan Liang Jian Guo Shuxiang Guo Xiang Wei Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781479970995

The capsule robot is one of important development direction in the field of wireless micro robot in-pipe and it is becoming a powerful tool for gastrointestinal tract inspection. In this paper, we proposed the symmetrical spiral micro robot with gravity compensation mechanism and then analysed the buoyancy and resistance of the robot in the fluid. Finally, we carried on the performance evaluation experiments of the robot in the fluid. The experimental results indicated that the micro robot has a good dynamic performance when the flow is about 26ml/min, compared to other flow value. In the horizontal direction the maximum velocity of the robot is about 30.44mm/s and 6.49mm/s in the case of downstream and counter current respectively. In the vertical direction the maximum velocity of the robot is about 10.1mm/s and 1.34mm/s in the case of downstream and counter current respectively while it is doing upward movement. In the vertical direction the maximum velocity of the micro robot is about 10.11mm/s and 1.337mm/s in the case of downstream and counter current respectively while it is doing downward movement. In addition, the flow has influence on transition frequency of the micro robot. The faster flow is, the lower transition frequency of the micro robot has. The experimental platform we set up can reflect the conditions of human gastrointestinal tract, so the performance evaluation of the micro robot in this paper will provide a strong support for the future clinical application.

关键词： Robots Radiation detectors Buoyancy Gastrointestinal tract Immune system Spirals

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The Determination of the Shelf Mass in the Universal Shelving Stacker by Measuring the Frequency Converter Torque Generating Current of the Main Drive

Manufacturing Technology

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Manufacturing Technology 2015年第3期15卷 30-30页

作者： Kollár, Pavol Nikitin, Yuri Straka, Martin Department of Electrical Engineering and Mechatronics Faculty of Electrical Engineering and Informatics Technical university of Kosice Letna 9 Kosice042 00 Slovakia Department of Mechatronic Systems Kalashnikov Izhevsk State Technical University "Mechatronic Systems" Department Izhevsk Russia Logistics Institute of Industry and Transport Faculty of Mining Ecology Process Control and Geotechnology Technical university of Kosice Park Komenskeho 14 Kosice043 84 Slovakia

The correct determination of the shelf mass including content is very important for the proper function of a universal shelf stacker (USS) drives life and construction USS so that these elements were not overloaded. Weighing can be done by direct methods using various sensors tension and compression but also the indirect method, by the torque sensing of current frequency converter, which controls the speed of the three-phase asynchronous motor. This method does not require any additional construction or adaptation or additional sensors or electronic evaluation system power operation. Weighting method of shelf in USS is based on the fact that the torque converter current is proportional to the sum of the weight of the shelf and the extractor and its value provides almost every frequency converter. In contrast to the direct weighing method of the shelf it is obvious economic advantage of this method and the accuracy is sufficient for the operation of USS. Copyright © 2015. Published by Manufacturing Technology. All rights reserved.

关键词： Frequency converters

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World Congress Integrative Medicine & Health 2017: part two Berlin, Germany. 3-5 May 2017 Abstracts

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BMC COMPLEMENTARY AND ALTERNATIVE MEDICINE 2017年第SUPPL 1期17卷 317-317页

作者： [Anonymous] National Institute of Complementary Medicine Western Sydney University Sydney Australia Department of General Practice University of Melbourne Melbourne Australia School of Rehabilitation Therapy Queens University Ontario Canada School of Health and Biomedical Sciences RMIT University Melbourne Australia School of Public Health and Preventive Medicine Monash University Melbourne Australia NAFKAM UiT The Arctic University of Norway Tromsø 9019 Norway Department of Psychology University of Sheffield Sheffield S1 1HD UK Department of Community Medicine UiT The Arctic University of Norway Tromsø 9019 Norway Institue of General Practice Goethe University Frankfurt Frankfurt 60590 Germany Department of General Practice University of Tübingen Tübingen Germany Med.-pharm. Information/Klinische Forschung WALA Heilmittel GmbH Bad Boll/ Eckwälden 73087 Germany Ressortleitung Wissenschaft WALA Heilmittel GmbH Bad Boll/Eckwälden 73087 Germany University of Minnnesota Minneapolis 55455 MN USA Minneapolis College of Art and Design Minneapolis MN USA Duke University Durham NC USA Caring Bridge Minneapolis MN USA University of Minnesota Minneapolis 55455 MN USA Phytomedicines Supply and Development Center Innovation & Development Bayer Consumer Health Steigerwald Arzneimittelwerk GmbH Darmstadt 68526 Germany University Medicine of Rostock Rostock 18055 Germany Primary Care and Population Sciences University of Southampton Southampton UK Psychology University of Southampton Southampton UK Faculty of Health University of Technology Sydney Sydney 2007 Australia st Department of Pathology and Experimental Cancer Research Semmelweis University Budapest 1085 Hungary University of Alberta Edmonton Canada Parker University Dallas TX USA Canadian Memorial Chiropractic College Toronto Canada Anglo-European College of Chiropractic Bournemouth UK University of Calgary Calgary Canada University of Toronto Toronto Canada University of Hawaii at Manoa Honolulu Hawai’

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Virtual friction model for control of cane robot

Virtual friction model for control of cane robot

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Shotaro Nakagawa Shunki Itadera Yasuhisa Hasegawa Kosuke Sekiyama Toshio Fukuda Pei Di Jian Huang Qiang Huang Department of Micro-Nano Systems Engineering Nagoya University Aichi Nagoya Japan Beijing Institute of Technology Nagoya University Meijo University Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Qiang Huang is with the Department of Mechatronics Beijing Institute of Technology Beijing China

A cane-type robot called intelligent cane has been developed to support the elderly during walking. By supporting a part of a user's body weight, the cane robot aims to reduce a load applied to a user's affected leg. Therefore, while the user's affected leg is a support leg, it is preferable that the cane robot stops to sufficiently support the user. In our previous work, the cane robot is controlled based on horizontal component of force applied to the cane robot and moment around a vertical axis. In this paper, virtual friction force, which is proportional to vertical component of force, is proposed to improve a walking assistance capability of the cane robot. In addition, virtual frictional coefficients are arranged based on the user's state inferred by a laser range finder. By employing the proposed method, the cane robot moves easily in the both legs support phase, stops in the healthy leg support phase, and supports the user reliably in the affected leg support phase.

关键词： Legged locomotion Force Robot sensing systems Friction Senior citizens Mobile communication

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