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7th International Conference on Integrated Modeling and Analysis in Applied control and Automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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Momentum based traversal of mobility challenges for autonomous ground vehicles

Momentum based traversal of mobility challenges for autonomo...

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2013 IEEE International Conference on robotics and Automation, ICRA 2013

作者： Ordonez, Camilo Gupta, Nikhil Chuy Jr., Oscar Collins Jr., Emmanuel G. Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida AandM University Tallahassee FL 32310 United States

ISBN: (纸本)9781467356411

Autonomous ground vehicles operating in the field are likely to be faced with several mobility challenges such as piles of rubble, water crossings, steep hills, mud, and stiff vegetation patches. These scenarios are particularly critical for smaller robots with torque and power limited actuators, which as experimentally shown in this work can easily fail to accomplish their tasks in these environments. This paper motivates and provides a methodology that integrates the robot, actuator and terrain models with an efficient motion planner to exploit the vehicle momentum as a way to successfully traverse these difficult terrains. In particular, experimental results showing the efficacy of the proposed methodology are presented for a vegetation patch and a steep hill. Finally, a discussion of the necessary perception work to fully automate the process is included. © 2013 IEEE.

关键词： Actuators

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ESICM LIVES 2016: part one Milan, Italy. 1-5 October 2016 Abstracts

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INTENSIVE CARE MEDICINE EXPERIMENTAL 2016年第SUPPL 1期4卷 1-1页

作者： [Anonymous] Academic Medical Center University of Amsterdam Amsterdam Netherlands UMCU Utrecht Netherlands Autonomous University of Barcelona Barcelona Spain Hospital São Francisco Xavier Lisbon Portugal CHU Henri Mondor Medical ICU Créteil France Université de Paris Est-Créteil Groupe de Recherche Clinique CARMAS Créteil France Hôpital Tenon APHP Medical and Surgical ICU Paris France Université Paris Diderot Sorbonne Paris Cité UMR 1153 Paris France Interdepartmental Division of Critical Care University of Toronto Toronto Canada University Health Network University of Toronto Critical Care Medicine Toronto Canada University of Milan - Bicocca Health Sciences School of Medicine and Surgery Monza Italy St Michael’s Hospital University of Toronto Anesthesia Toronto Canada CHU d’Angers Medical ICU Angers France Interdepartmental Division of Critical Care University of Toronto Saint Michael’s Hospital and Keenan Research Centre Toronto Canada University of Birmingham Institute for Inflammation and Ageing Birmingham UK University of Sheffield Mathematics and Statistics Help Centre Sheffield UK Heart of England NHS Foundation Trust Intensive Care Medicine Birmingham UK Department of Surgery University Hospitals Birmingham NHS Trust Birmingham UK University Hospitals Birmingham NHS Trust Anaesthesia and Critical Care Medicine Birmingham UK Queen’s University of Belfast Wellcome-Wolfson Institute for Experimental Medicine Belfast UK Royal Victoria Hospital Intensive Care Medicine Belfast UK University of Warwick Warwick Clinical Trials Unit Coventry UK University of Bari ‘Aldo Moro’ Bari Italy Hospital Israelita Albert Einstein São Paulo Brazil Mayo Clinic Jacksonville USA Mahidol University Faculty of Tropical Medicine Bangkok Thailand University Medical Center Utrecht Intensive Care Utrecht Netherlands University Medical Center Utrecht Julius Center for Health Sciences and Primary Care Utrecht Netherlands Academic Medical Center University of Amste

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Dynamics modelling and stable motion control of a Ballbot equipped with a manipulator

Dynamics modelling and stable motion control of a Ballbot eq...

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2013 1st RSI/ISM International Conference on robotics and Mechatronics, ICRoM 2013

作者： Asgari, Pouya Zarafshan, Payam Moosavian, S. Ali A. Center of Excellence in Robotics and Control Department of Mechanical Engineering K. N. Toosi Univ. of Technology PO Box 19395-1999 Tehran Iran

ISBN: (纸本)9781467358118

Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small base that helps the robot to move in limited space. It is as tall as human height until could interact by people whereas a Ballbot has not been equipped with a manipulator. This manipulator adds new advantages to the Ballbot such as object manipulation and grasping. In this paper and to achieve more performance of a Ballbot, it is equipped with a PUMA type manipulator which gives to the proposed robot the capability of better stabilization. To this end, dynamics equations of the assumed mobile robot is presented and verified. Then, by respecting to this fact that a Ballbot is in the class of under-actuated systems, a control algorithm is proposed to attain the stable motion control of the system. Finally, a simulation routine is performed to move along the desired path/trajectory. Obtained results reveal the merits of the verified model of the new Ballbot and the considered control algorithm which will be discussed. © 2013 IEEE.

关键词： Manipulators

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A new approach in gait planning for humanoid robots

A new approach in gait planning for humanoid robots

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2013 1st RSI/ISM International Conference on robotics and Mechatronics, ICRoM 2013

作者： Khadiv, Majid Moosavian, S. Ali A. Center of Excellence in Robotics and Control Department of Mechanical Engineering K. N. Toosi Univ. of Technology PO Box 19395-1999 Tehran Iran

ISBN: (纸本)9781467358118

Due to redundancy and natural instability of humanoid robots, their motion planning becomes a challenging task. Designing stable gaits with smooth trajectories for a humanoid robot is the main goal of this article. Taking all related parameters on robot's walking into consideration, a new gait planning approach in the task space is developed. Various aspects like upper-body motion and stability requirements have the most significant role in this new gait planning process. In order to reduce undesired fluctuations on robot center of mass a new method in trajectory planning is also suggested. To show performance of the proposed algorithm, it is compared with another reliable approach in this field, and the results will be discussed. © 2013 IEEE.

关键词： Inverse kinematics

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Discrete State Estimation for Switched LPV Systems using Parameter Identification

Discrete State Estimation for Switched LPV Systems using Par...

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American control Conference

作者： H. Ríos D. Mincarelli D. Efimov W. Perruquetti J. Davila National Autonomous University of Mexico Department of Control and Robotics Division of Electrical Engineering Engineering Faculty C.P 04510 Mexico D.F. Non-A project at INRIA - LNE Parc Scientifique de la Haute Borne 40 avenue Halley Bt.A Park Plaza 59650 Villeneuve d'Ascq France. National Polytechnic Institute Section of Graduate Studies and Research ESIME-UPT C.P.07340 Mexico D.F.

ISBN: (纸本)9781479932757

In this paper the problem of discrete state estimation for a class of switched LPV systems is addressed. Identification techniques are applied to realize an approximate identification of the switched LPV system parameters with certain uncertainties, disturbances and/or noise. The discrete state estimation is realized by means of the parameter identification. The efficiency of the proposed method is illustrated by simulations.

关键词： Discrete State Estimation Switched LPV Systems using Parameter Identification State estimation Parameter identification discrete element

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Comparison of simulated and measured signals of the electromagnetic coil launcher for micro aerial vehicles

Comparison of simulated and measured signals of the electrom...

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International Symposium on Electrodynamic and Mechatronic System (SELM)

作者： M. Kondratiuk Z. Gosiewski Mechanical Faculty Department of Control Engineering and Robotics Bialystok Technical University Bialystok Poland

In this paper we describe numerical model and designed construction of the EML consisting of 10 coils with a moving ferromagnetic core inside. Friction coefficients were introduced into the system equations and next we proposed an algorithm which enabled us to fit the numerical model to the constructed device. In the paper we present comparison of the signals from computer simulations and measurements which were taken during laboratory and field trials.

关键词： Coils Solid modeling Friction Electromagnetics Acceleration Numerical models Integrated circuit modeling

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control Systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Real-time fall and overturn prevention control for human-cane robotic system

Real-time fall and overturn prevention control for human-can...

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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Di, Pei Huang, Jian Nakagawa, Shotaro Sekiyama, Kosuke Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University 464-0814 Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479911738

A Intelligent Cane Robot(iCane) has been proposed to assist the elderly walking in daily life. As a nursing-care robot, the safety and dependability are the most important issues that should be investigated. For preventing the human subject from falling, the angle of human body and the acceleration of center of gravity(COG) should be less than some threshold. Although in a human-in-the-loop system, the human subject is regarded a uncontrollable object. However, while the user is falling over, the cane robot can move to a appropriately position and support the user for balance. As the prerequisite condition that the cane robot support the human balance, the stability of cane robot should be ensured firstly. According Newton-Euler Law, a dynamic model is proposed to present the stability of human-cane robotic system. A impedance control are used to achieve position, posture and force control of iCane for fall prevention. The simulation and experimental results show the performance of fall prevention by using iCane. © 2013 IEEE.

关键词： Accident prevention

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