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International Symposium on Micromechatronics and Human Science (MHS)

作者： Pei Di Jian Huang Shotaro Nakagawa Kosuke Sekiyama Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Institute for Advanced Research Nagoya University Chikusa-ku Nagoya Japan The Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China The Faculty of Science and Engineering Meijo University Japan

An intelligent cane robot was designed for aiding the elderly and handicapped people walking. The robot consists of a stick, a group of sensors and an omni-directional basis driven by three Swedish wheels. Multiple sensors were used to recognize the user's “walking intention”, which is quantitatively described by a new concept called intentional direction (ITD). Based on the guidance of filtered ITD, a novel intention-based admittance motion control (IBAC) scheme was proposed for the cane robot. To detect the fall of user, a detection method based on Dubois possibility theory was proposed using the combined sensor information from force sensors, a laser ranger finder (LRF) and an on-shoe load sensor. The human fall model was represented in a two-dimensional space, where the relative position between the center of pressure (COP) and the center of support triangle was utilized as a significant feature. The effectiveness of proposed fall detection method was also confirmed by experiments.

关键词： Legged locomotion Robot sensing systems Senior citizens Artificial intelligence

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Whole-Body Pose Estimation in Physical Rider-Bicycle Interactions with a Monocular Camera and a Set of Wearable Gyroscopes

Whole-Body Pose Estimation in Physical Rider-Bicycle Interac...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Xiang Lu Kaiyan Yu Yizhai Zhang Jingang Yi Jingtai Liu Institute of Robotics and Automatic Information Systems Nankai University Tianjin 300071 P. R. China Department of Mechanical and Aerospace Engineering Rutgers University Piscataway NJ 08854 USA Department of Control and Information Northwestern Polytechnical University Xi'an Shaanxi China

ISBN: (纸本)9781479969357

We report the development of a human whole-body pose estimation scheme with application to rider-bicycle interactions. The estimation scheme is built on the fusion of measurements of a monocular camera on the bicycle and a set of small wearable gyroscopes attached to the rider's upper- and lower-limb and the trunk. A single feature point is collocated with each wearable gyroscope and also on the segment link where the gyroscope is not attached. An extended Kalman filter is designed to fuse the vision-inertial measurements to obtain accurate whole-body poses. The estimation design also incorporates a set of constraints from human anatomy and the physical rider-bicycle interactions. We demonstrate and compare the performance of the estimation design through multiple subjects riding experiments.

关键词： Gyroscopes Estimation Bicycles Joints Cameras Wrist Quaternions

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System of geometric parameters monitoring during cutting of steel plates process

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Diagnostyka 2013年第3期14卷 23-28页

作者： Kwasniewski, Jerzy Grzybowski, Józef Kordos, Damian AGH University of Science and Technology in Kraków Faculty of Mechanical Engineering and Robotics Department of Rope Transport Poland Rzeszów University of Technology Faculty of Mechanical Engineering and Aeronautics Department of Avionics and Control Systems Poland

The steel plate cutting is performed on a special pro-duction lines to enable longitudinal and lateral cut. Input material is usually a metal ring of weight about 32 tons. The cutting process is preceded by an operation of straightening the cutting section. So far, during this operation parameters such as wave cut off sheets, the thickness of the material were not monitored. This paper presents a system of continuous monitoring of sheets parameters constructed by the authors. It was mounted on the process line-cutting and slitting of one of the companies cutting sheet metal. Such approach allows to improve quality control.

关键词： Metal cutting

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Bipedal walking with toe-off, heel-strike and compliance with external disturbances

Bipedal walking with toe-off, heel-strike and compliance wit...

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IEEE-RAS International Conference on Humanoid Robots

作者： Xuechao Chen Yuhang Zhou Qiang Huang Zhangguo Yu Gan Ma Libo Meng Chenglong Fu Key Laboratory of Intelligent Control and Decision of Complex System China Ministry of Education Key Laboratory of Biomimetic Robots and Systems China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Mechanical Engineering Tsinghua University Beijing

ISBN: (纸本)9781479971756

Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is why few studies consider them simultaneously. This paper presents a method to realize stable walking with toe-off and heel-strike even when the robot experiences disturbances. We propose a walking controller which can constrain the desired ground reaction force. On the one hand, the controller can adjust the torso acceleration to make the supporting leg compliant with the external disturbances on the torso. On the other hand, it can rotate the supporting foot by adjusting the ZMP to an appropriate location. The linear inverted pendulum is utilized to generate the CoM trajectory and the foot placement. Meanwhile, its ZMP can be predefined as required so that the toe-off and heel-strike can be achieved by the controller. The effectiveness of the proposed method is demonstrated by simulations.

关键词： Legged locomotion Foot Torso Robot kinematics Acceleration Joints

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Multi-Objective control of Balancing Systems for Li-Ion Battery Packs: A Paradigm Shift?

Multi-Objective Control of Balancing Systems for Li-Ion Batt...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Jorge V. Barreras Claudio Pinto Ricardo de Castro Erik Schaltz Soren J. Andreasen Rui Esteves Araujo Department of Energy Technology Aalborg University Aalborg Denmark INESC TEC (formerly INESC Porto) and Faculty of Engineering University of Porto Porto Portugal Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling Germany

While a great number of battery balancing circuit topologies have been proposed, the unique control objective typically pursued is equalization of single cell charge. However, a balancing circuit could offer potentially more control features, especially with topologies able to provide bidirectional power flow control. This has not been explored yet in literature or at least not with enough thoroughness. Thus, in addition to charge balancing, up to three more objectives could be pursued simultaneously. Firstly, virtual resistance control, in order to provide dynamic compensation for variations in terminal cell voltage. Secondly, thermal management, to achieve a more uniform temperature distribution within a battery pack. Third, on-board diagnosis or fault detection tools, e.g. to perform characterization tests or to identify and even isolate problematic cells. In this paper, this issue is discussed and evaluated for a battery pack made up of 48 large format Li-Ion cells in series in a e-mobility application. Simulation results demonstrate the technical feasibility of this newly defined concept.

关键词： Batteries System-on-chip Integrated circuit modeling Mathematical model control systems Voltage control Fault detection

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Sliding Mode control with Nonlinear Disturbance Observer for a Class of Underactuated System

Sliding Mode Control with Nonlinear Disturbance Observer for...

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第三十二届中国控制会议

作者： HUANG Jian DING Feng WANG Yongji State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Control Science and Engineering Huazhong University of Science and Technology

ISBN: (纸本)9781479900305

In this study,a sliding mode controller based on nonlinear distnrbance observer is investigated to control a class of underactnated system which is in cascaded *** using strict feedback,the underactnated system is presented as a special cascade normal form convenient for controller design.A sliding mode controller is designed to stabilize underactnrated plant directly and drive the variables to the sliding *** order to improve performance and robustness,a nonlinear disturbance observer was designed to compensate for external disturbances and model *** theoretical results axe illustrated by simulations on the *** simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.

关键词： underactuated system cascaded form sliding mode control nonlinear disturbance observer

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Development of CR2-Haptic: A compact and portable rehabilitation robot for wrist and forearm training

Development of CR2-Haptic: A compact and portable rehabilita...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： K. X. Khor P. J. H. Chin A. R. Hisyam C.F. Yeong A. L. T. Narayanan E. L. M. Su Universiti Teknologi Malaysia from Malaysia Japan International Institute of Technology Universiti Teknologi Malaysia Skudai Johor MY Department of Control Mechatronics of Faculty of Electrical Engineering Unwersiti Teknologi Malaysia Universiti Teknologi Malaysia Center of Artificial Intelligence and Robotics (CAIRO)

Stroke has now become the leading cause of severe disability. Rehabilitation robots are gradually becoming popular for stroke rehabilitation to improve motor recovery, as robotic technology can assist, enhance, and further quantify rehabilitation training for stroke patients. However, most of the available rehabilitation robots are complex and involve multiple degrees-of-freedom (DOFs) causing it to be very expensive and huge in size. Rehabilitation robots should be useful but also need to be affordable and portable enabling more patients to afford and train independently at home. This paper presents a development of an affordable, portable and compact rehabilitation robot that implements different rehabilitation strategies for stroke patient to train forearm and wrist movement in an enhanced virtual reality environment with haptic feedback.

关键词： Robots Training Torque Wrist Haptic interfaces Games Joints

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An Approach to Distributed Robust Model Predictive control of Discrete-Time Polytopic Systems

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IFAC Proceedings Volumes 2014年第3期47卷 2576-2581页

作者： Alexandra Grancharova Sorin Olaru Institute of System Engineering and Robotics Bulgarian Academy of Sciences Acad. G. Bonchev str. Bl.2 P.O.Box 79 Sofia 1113 Bulgaria (Tel: +*** E3S (SUPELEC Systems Science) Automatic Control Department and EPI INRIA DISCO Gif-sur-Yvette France

A suboptimal approach to distributed robust MPC for uncertain systems consisting of polytopic subsystems with coupled dynamics subject to both state and input constraints is proposed. The approach applies the dynamic dual decomposition method and reformulates the original centralized robust MPC problem into a distributed robust MPC problem. It is based on distributed on-line optimization by applying an accelerated gradient method. The suggested approach is illustrated on a simulation example of an uncertain system consisting of two interconnected polytopic subsystems.

关键词： Predictive control Distributed control Decomposition methods Interconnected systems Uncertainty Robust control Constraints

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Correct-by-construction distributed control for multi-vehicle transport systems

Correct-by-construction distributed control for multi-vehicl...

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2013 IEEE International Conference on Automation Science and engineering, CASE 2013

作者： Roszkowska, Elzbieta Goral, Ida Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland Department of Electronics Wroclaw University of Technology Poland

ISBN: (纸本)9781479915156

In this work we deal with a system of autonomous mobile vehicles with limited communication range and consider the problem of the formally correct distributed control, i.e., the design of the local control for each particular agent so that it ensures globally correct behavior of the system. A particular problem is the fact that the knowledge about the system state possessed by the agents is partial and never accurate, as during the time of information acquisition (by querying other agents) the state of the agents can change. The paper capitalizes on the results of [1] and contributes with: 1) further development of the theoretical idea toward the distributed supervisory control and the concept of robustness, 2) application of the results in the design of a transport agent, and 3) development of a demonstrator, i.e., a computer application that enables the user to specify a considered transport system and its tasks, creates a virtual environment, where each particular vehicle is represented by a particular software agent implementing the control model of (2), and allows observation of the agents concurrent operation and quantitative assessment of the system performance. © 2013 IEEE.

关键词： Application programs

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