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检索条件"机构=Department of Control and Robot Engineering"

共 271 条记录，以下是161-170 订阅

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PLL controller for precise velocity tracking of UUV: A new ROV model and its control

PLL controller for precise velocity tracking of UUV: A new R...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Hee-Jun Lee Sun-Je Yang Jong-gu Park Tae-Yong Kuc Nak-Yong Ko Yong-Seon Moon School of Electrical and Computer Engineering Sung Kyun Kwan University Suwon Republic of Korea Department of Control Instrumentation and Robot Engineering Chosun University Republic of Korea Department of Electrical Engineering Sunchon National University Republic of Korea

A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of UUV motion be controlled by focusing on the motor speed control after solving inverse kinematics and dynamics of UUV. Simulation results are given to demonstrate the feasibility and effectiveness of the proposed controller for UUV motion control.

关键词： robots Yttrium

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PLL controller for precise velocity tracking of UUV: A new AUV model and its control

PLL controller for precise velocity tracking of UUV: A new A...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Jun-Hee Lee Hyun-Su Kim Jong-gu Park Tae-Yong Kuc Nak-Yong Ko Yong-Seon Moon School of Electrical and Computer Engineering Sung Kyun Kwan University Suwon Republic of Korea Department of Control Instrumentation and Robot Engineering Chosun University Republic of Korea Department of Electrical Engineering Sunchon National University Republic of Korea

关键词： Yttrium Adaptation models robots Oceans

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Fuzzy PID algorithm-based motion control for the spherical amphibious robot

Fuzzy PID algorithm-based motion control for the spherical a...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Guoqiang Wu Shuxiang Guo 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 Faculty of Engineering Kagawa University Takamatsu Japan

ISBN: (纸本)9781479970995

Fuzzy control and PID control are often used in control area. However, a single Fuzzy control or PID control can not satisfy the need of the rising complexity and precision of control systems. Considering the disturbance in amphibious spherical robot, it is difficult to solve the control problem for a complex system of an amphibious spherical robot. This paper deeply analyzed the advantages and the disadvantages of Fuzzy control and PID control, and proposed a new Fuzzy PID control combined Fuzzy control and PID control. The simulation results show that the method of Fuzzy PID can effectively reduce the overshoot of the control system, accelerate the response speed, and shorten the adjustment time, In this way, The system can reduce the shock of amphibious spherical robot, and improve the stability, thus, the method can enhance the dynamic performance of the amphibious spherical robot.

关键词： PD control Fuzzy control Niobium Legged locomotion Process control

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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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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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Research on and Education for Navigation control of an Exploration Rover with Microwave Doppler Sensors

Research on and Education for Navigation Control of an Explo...

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International Symposium on Micro-NanoMechatronics and Human Science

作者： Masahiro Isogai Yasuhiko Nawa Toru Iijima Department of Electronic Control and Robot Engineering Aichi University of Technology College of Environmental Technology Graduate School of Engineering Muroran Institute of Technology

ISBN: (纸本)9781467382182

Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was below that level. In this study, we fabricated the third prototype rover. To confirm the effectiveness of the proposed method, we performed the experiments on the strength distribution of the microwave beam and on the navigation control with the fabricated rover. Finally, we had a questionnaire for the student who collaborated with this study to investigate how the education effects for the student were.

关键词： MICROWAVE BEAMS microwave signal navigation Education Sensors Students angular width Doppler effect intensity distribution MICROWAVE

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2-D vector field visualization of corrosion in a small-bore piping system using bobbin-type integrated Hall and GMR sensors arrays

2-D vector field visualization of corrosion in a small-bore ...

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2014 9th IEEE Sensors Applications Symposium, SAS 2014

作者： Le, Minhhuy Kim, Jungmin Sik Do, Hwa Lee, Jinyi Department of Control and Instrumentation Engineering Graduate School Chosun University Gwangju Korea Republic of Department of Control Instrumentation and Robot Engineering Chosun University Gwangju Korea Republic of KEPCO Plant Service and Engineering Co. LTD 216 Go-Ri Jangan-Eup Gijang-Gun 619-711 Busan Korea Republic of

ISBN: (纸本)9781479921805

This study proposes a 2-D bobbin-type magnetic field vector camera in nondestructive testing for inspection of corrosions in inner and outer diameter (ID and OD) of a small-bore piping system. 16.1 mm diameter bobbin probe was produced by integrated of 71 Hall sensors (BIHaS) and 71 Giant magnetoresistance sensors (BIGiS) in two circumferential lines at interval of 0.6 mm. The BIHaS and BIGiS could measure radial and axial components of alternating magnetic field. Thus ID and OD corrosions could be imaged in a 2-D magnetic field vector. Two small-bore copper (16.56 mm inner diameter, 1.27 mm thickness) and titanium (17.28 mm inner diameter, 0.86 mm thickness) pipes with ID and OD corrosions were inspected and presented in this paper. The measured signal of each sensor array was displayed in a single contour plot and combined 2-D vector plot in real-time during scan. © 2014 IEEE.

关键词： Nondestructive examination

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Performance evaluation of spring for the vehicle suspension system using the nonlinear finite element method 4

Performance evaluation of spring for the vehicle suspension ...

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4th International Conference on Advanced Design and Manufacturing engineering, ADME 2014

作者： Kim, Byeong Soo Moon, Byung Young Kim, Sung Kwan School of Mechanical and Automotive Engineering High Safety Vehicle Core Technology Research Center Inje University 607 Obang-dong Gimhae Korea Republic of Department of Naval Architecture Kunsan National University 1170 Daehagro Gunsan Korea Republic of Department of Control and Robot Engineering Graduate School Kunsan National University Korea Republic of

ISBN: (纸本)9783038352570

Air spring is used for the suspension system and it affects the vehicle stability and riding comfort by improving the impact-relief, braking, and cornering performance. Air Spring is comprised of the upper plate, lower plate, and rubber sleeve. Rubber sleeve is the composite material, which is made up of combination of rubber and Nylon, and the characteristics are changed according to the shape of rubber-sleeve, the angle of reinforcement cord. In this study, the distribution of internal stresses and the deformation of rubber composite material are analyzed through the nonlinear finite element method. The result showed that the internal maximum stresses and deformations about the changes of cord angle caused the more the Young's modulus decrease, the more maximum stress reduced. © (2014) Trans Tech Publications, Switzerland.

关键词： Rubber

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A robot design for trans-oral surgery

A robot design for trans-oral surgery

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jong-Tae Seo Jaehong Woo Long Kang Wheekuk Kim Byung-Ju Yi Department of Mechatronics Engineering Hanyang University Ansan Korea Department of Intelligent Robot Engineering Hanyang University Ansan Korea Department of Electronic Systems Engineering Hanyang University Ansan Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Korea Department of Mechanical Engineering Hanyang University Ansan Korea

ISBN: (纸本)9781479953349

The objective of this paper is to describe a new design of a trans-oral surgical robot. The trans-oral robotic surgery system consists of a master device and a slave device. Specifically, the concept of stackable mechanism is applied to design both master and slave devices. Using the stackable architecture, counter-balancing can be achieved over the whole workspace and compact design can be made by locating all motors at the base of the robot. Through simulation, the performance of the trans-oral surgical robot is verified.

关键词： Surgery Educational institutions Electronic mail Medical robotics Simulation

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