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International Conference on control, Automation and Systems ( ICCAS)

作者： Seon-Je Yang Hee-Jun Lee Tae-Yong Kuc Jong-gu Park 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

ISBN: (纸本)9781467390583

This paper presents dynamics control of underwater vehicle based on motor velocity servo. For control of robot's location, pose, velocity in complicated underwater environment, this study estimates hydrodynamic coefficients by using backstepping technique. Estimated hydrodynamic coefficients are to be used for controlling of robot's exact location, pose, and velocity, within the framework of adaptive dynamics control. Also this study suggests a unified control method which combines motor control loop for velocity servo and torque control for dynamics control. Simulation results demonstrate the feasibility and effectiveness of the proposed control method.

关键词： Underwater vehicles Vehicle dynamics robots Hydrodynamics Motor drives Force

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Study on movement stability for the spherical amphibious robot

Study on movement stability for the spherical amphibious rob...

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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 Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781509023974

In recent years, wheeled robots have get widely used and developed because of its advantages. But they also have some disadvantages, for example, they obviously can't be compared with the spherical amphibious robots on rough ground. The four-legged spherical amphibious robots can move quickly and smoothly on rough ground and have superior carrying capacity. This paper deeply analyzed the movement stability of spherical amphibious robot. We used Solid works to build the three dimensional model. Then we completed the definition and setting of the spherical amphibious robot model in ADAMS. We completed the design of the control system. Lastly, we carried out some experiment; we analyzed the experimental result and verified the validity of the structure. By compared different swing angle and movement cycle of the joints, we get the best swing angle and movement cycle of the robot.

关键词： robot kinematics Legged locomotion Solid modeling Prototypes Mathematical model robot sensing systems

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An EMG-based muscle force evaluation method using approximate entropy

An EMG-based muscle force evaluation method using approximat...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Yuye Hu Jian Guo Weijie Zhang Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (纸本)9781509023974

This paper proposed a novel muscle force evaluation method to evaluate the patient's rehabilitation condition in the process of rehabilitation training. According to the related literature research, the complexity of the electromyography (EMG) signals were different under different muscle force. The physiological features and the state of muscle can be indirectly speculated by detecting the change of the dynamic complexity of EMG signals. The novel ideal of our research is to propose an EMG-based muscle force evaluation method using approximate entropy. The evaluation system consists of two main parts: the EMG acquisition (BIOFORCEN) and the measurement of muscle force (FingerTPS). Experiments were conducted with a healthy male. 15 groups EMG signals of biceps and triceps were acquired under different muscle force. Raw EMG data were recorded for off-line analysis. The approximate entropy (ApEn) and the power of EMG signals aiming at intercept relatively stable 10 section signal in each group were calculated to compose the training set. In addition, the additional 150 groups feature vectors were obtained to compose a sample set. 15 groups muscle force were divided into 6 levels and two classification method (linear discriminate analysis (LDA) and quadratic discriminate analysis (QDA)) were used to classify the feature vector. Experimental results have shown that the discrimination between ApEn and the power were obvious and 65% classification accuracy was got with the QDA method. The research of this paper can be a promising approach for further research in the field of rehabilitation evaluation.

关键词： Muscles Electromyography Force Training Entropy Force measurement Electrodes

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Design of the structural optimization for the upper limb rehabilitation robot

Design of the structural optimization for the upper limb reh...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Jiange Gao Jian Guo Weijie Zhang Yuye Hu 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 Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The exoskeleton robotic rehabilitation training system is a branch of the field of robotics, it is the external mechanical system that is consistent with the similar joints of the human body, and attached to the human body. With the development of exoskeleton rehabilitation robotic system, the biomechanics influence of device should be considered in rehabilitation training. This paper proposes a novel upper limb exoskeleton rehabilitation device based on biomechanics, which can be used in rehabilitation of upper limb for hemi paralysis patients. This system aims at helping hemi paralysis patients recover motor function of upper limb; in addition it is suitable for variety of patients. This system is portable and wearable, which consists of exoskeleton device, hepatic device (PHANTOM Premium), motor controllers and work station (computer). This paper proposes a structural optimization scheme in order to solve some problems of bowl's structure of the rehabilitation robot. The Pro/ENGINEER Wildfire (Pro/E) software is applied to get a three-dimensional modelling, kinematics simulation and dynamic analysis of the rehabilitation robot. From the analysis, the robot end motion simulation curves were obtained to verify the optimization structure reasonable and better motion characteristics. In the future, this structure will have a wide application prospect in the rehabilitation therapy field.

关键词： robots Exoskeletons Wrist Jacobian matrices Gears Optimization Acceleration

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Design and kinematic simulation of a novel exoskeleton rehabilitation hand robot

Design and kinematic simulation of a novel exoskeleton rehab...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Weijie Zhang Jian Guo Jiange Gao Yuye Hu 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 Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The rehabilitation exoskeleton robot is more and more used in the assisting stroke patients in implementing rehabilitation training. In this paper, a novel exoskeleton hand robot which was driven by cable has been proposed to aim at helping varieties of paralyses patients recover motor function. This exoskeleton hand rehabilitation robot system mainly consists of exoskeleton hand robot, EEG system, motor controllers unit, some sensors and a workstation. And the hand exoskeleton mechanism was portable, wearable and adjustable for patients doing home rehabilitation training. Based on the parameters from human hand, the kinematic model of hand robot was established to be used in designing and the kinematic simulation experiments about this exoskeleton hand robot were done. Through the simulation software ADAMS (Automatic Dynamic Analysis of Mechanical Systems), the parameters of position, angle velocity and angle accelerated velocity (PVA) of proximate inter-phalanger (DIP) distal inter-phalanger joint were simulated. And then, the movement situation of the DIP joint was obtained according to the data from the position encoder. So the velocity curve and accelerated velocity curve were obtained by calculating the actual position function derivation. The simulated results showed that this exoskeleton hand robot has high movement ability to finish the continuous passive motion (CPM). Beside that, a comparison test was done to verify whether there were some motion blocks in wearing exoskeleton robot. Through analyzing the experimental data, the error between the actual position and the simulated position of the PIP joint of the finger was very small which verified the small interference of robot. These experiments demonstrated that the exoskeleton hand robot has high efficiency movement ability for stroke patients who need to do the finger rehabilitation training. In the future, the optimization design of the exoskeleton hand robot will be done in order to improve more mov

关键词： Exoskeletons Thumb robot sensing systems Joints Training

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Operator-based fault tolerant control for uncertain nonlinear systems

Operator-based fault tolerant control for uncertain nonlinea...

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World Congress on Intelligent control and Automation (WCICA)

作者： Shuhui Bi Lei Wang Ming Zhang Mingcong Deng School of Electrical Engineering University of Jinan China Shandong provincial key laboratory of robot and manufacturing automation technology Shandong Academy of Science Jinan China Inspur Chaoyue Digital Control Electronics Co. Ltd. Jinan China Department of Electrical and Electronic Engineering Tokyo University of Agriculture and Technology Tokyo Japan

ISBN: (纸本)9781467384155

In this paper, operator based fault tolerant control for uncertain nonlinear system with actuator fault is considered by using operator based robust right coprime factorization approach. In detail, on the basis of the operator based control design structure, fault detection system design and fault tolerant control system design are considered for nonlinear system without and with uncertainty, respectively. In both of the proposed control system design, the fault signal can be detected and some sufficient conditions are given, which ensure that the designed system is stable and the output tracking performance can be realized. Finally, the theoretical analysis is applied onto an aluminium plate temperature control process and the effectiveness of the theoretical analysis is demonstrated by the simulation results.

关键词： Uncertainty Fault tolerant control Nonlinear systems Process control Fault tolerant systems Fault detection Actuators

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Autonomous navigation system of mobile robot using laser scanner for corridor environment

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Journal of Institute of control, robotics and Systems 2015年第11期21卷 1044-1049页

作者： Park, Jong-Kwan Park, Tae-Hyeong Department of Control and Robot Engineering Chungbuk National University Korea Republic of Department of Electronics Engineering Chungbuk National University Korea Republic of

This paper proposes an autonomous navigation system of mobile robots for indoor corridor environment. The system uses a laser scanner but does not use reflectors. The laser scanner measures the distance between robot and structures such as wall, pillar, and fixtures. Adaptive breakpoint detector and modified IEPF (iterative endpoint fit) are developed to find mark points from the distance data. The robot path for corridor is then generated using the angle histogram of the mark points. The experimental results are finally presented to show the effectiveness of the proposed method. © ICROS 2015.

关键词： Iterative methods

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Movement characteristics evaluation of the spherical robot actuated by the magnetic field for medical applications

Movement characteristics evaluation of the spherical robot a...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Nan Liang Jian Guo Pengyu Liu Lili Wang Gang Sun 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 Internal Medicine-Oncology Tianjin Hospital of ITCWM Naikai Hospital Tianjin China Gastrointestinal Surgery Tianjin Hospital of ITCWM Naikai Hospital Tianjin China

ISBN: (纸本)9781509023974

The capsule microrobot will play an important role in the medical application such as the minimally invasive surgery in the future. In this paper, we proposed the spherical capsule robot system driven by the external magnetic field. And then we did the finite element analysis of the electromagnetic device involved in the system using ANSYS software. In the end, to verify our analysis results and establish relationship with the experimental system, we conducted the comparison between experimental results and theoretical results. In addition, the spherical robot motion was also recorded in the tube and an open plastic sink. Combining with the proposed experimental platform, we can change the orientation of the capsule robot by changing the direction of the external magnetic field and change the moving speed by changing the frequency of the external magnetic field. The driving force of the Helmholtz coil on the capsule robot can be generated along the space any direction by changing the parameters of the input signal in theory. Besides that we found that the variation tendency of the magnetic field is the same between experimental values and simulation results. We can adjust the parameters of the input current on the basis of the simulation results in order to obtain the needed external magnetic field during the actual operation. The capsule robot motion indicated that the capsule robot motion is related to other factors except the external driving force. The experiments in an open plastic cup indicated that the spherical capsule robot can actively motion along the predetermined direction in the plane. The research results in this paper will provide the strong supports for actuating the capsule robot with the external magnetic field for medical applications in the future.

关键词： Magnetic fields Finite element analysis Force Atmospheric modeling robot motion Permanent magnets

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Analysis of error propagation in two-way-ranging-based cooperative positioning system

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Journal of Institute of control, robotics and Systems 2015年第9期21卷 898-902页

作者： Lim, Jeong-Min Lee, Chang-Eun Sung, Tae-Kyung Department of Information and Communication Engineering Chungnam National University Korea Republic of Robot/Cognitive System Research Department Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Korea Republic of

Alternative radio-navigation technologies aim at providing continuous navigation solution even if one cannot use GNSS (Global Navigation Satellite System). In shadowing region such as indoor environment, GNSS signal is no longer available and the alternative navigation system should be used together with GNSS to provide seamless positioning. For soldiers in battlefield where GNSS signal is jammed or in street battle, the alternative navigation system should work without positioning infrastructure. Moreover, the radio-navigation system should have scalability as well as high accuracy performance. This paper presents a TWR (Two-Way-Ranging)-based cooperative positioning system (CPS) that does not require location infrastructure. It is assumed that some members of CPS can obtain GNSS-based position and they are called mobile anchors. Other members unable to receive GNSS signal compute their position using TWR measurements with mobile anchors and neighboring members. Error propagation in CPS is analytically studied in this paper. Error budget for TWR measurements is modeled first. Next, location error propagation in CPS is derived in terms of range errors. To represent the location error propagation in the CPS, Location Error Propagation Indicator (LEPI) is proposed in this paper. Simulation results show that location error of tags in CPS is mainly influenced by the number of hops from anchors to the tag to be positioned as well as the network geometry of CPS. © ICROS 2015.

关键词： Radio navigation

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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, MHS 2015

作者： Isogai, Masahiro Nawa, Yasuhiko Iijima, Toru Department of Electronic Control and Robot Engineering Aichi University of Technology 50-2 Manori Nishihazamacho Gamagori Aichi443-0047 Japan College of Environmental Technology Graduate School of Engineering Muroran Institute of Technology 27-1 Mizumoto-cho Muroran-shi Hokkaido050-8585 Japan

ISBN: (纸本)9781479966783

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 and plusmn;3 and deg;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. © 2015 IEEE.

关键词： Microwave antennas

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