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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad Dehghani S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

In some modeling and control problems, especially in robotics, determination of orientation of a rotating body or frame requires slow and time taking numerical calculations. In some cases, such as for continuum robots, these time-taking calculations are an impediment to real-time control. The common approaches for orientation determination, such as Euler angles or Euler parameters, are beneficial when generalized coordinates are needed. Otherwise, these approaches require some time-taking equations for calculation of the rotation matrix (direction cosine matrix). Another method is to calculate the rotation matrix directly, based on the angular velocity. Although this method is very fast, it is numerically unstable, because of accumulation of some numerical errors. In this paper, an approach is introduced that cancels these errors with the least numerical efforts, and provides high accuracies. The application and importance of this approach is studied and discussed in the case of modeling and control of continuum robotic arms, as an instance. The proposed methods are used to model a spring, as a case study. The obtained results are validated by analytic data, and are compared to the results obtained by other methods.

关键词： Vectors

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Modeling of continuum robots with twisted tendon actuation systems

Modeling of continuum robots with twisted tendon actuation s...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

In contrast to traditional articulated robots, continuum robots do not have any joints. The backbone of these robots can be bent, twisted and stretched by environmental and actuation forces. A group of continuum robotic arms use tendon-driven actuation systems. In this group, the shape of robot backbone can be controlled by pulling the tendons. Generally, exact modeling of the forces and moments produced by tendon-driven systems has no closed form solution. However, for a simplified case where the backbone shape is a planar curve with a constant curvature, some closed-form solutions have been introduced. Such solutions are valuable, especially in control applications where Jacobian matrices must be calculated. For exact modeling of elastic rods in spatial deformations, constant curvature models are not accurate. In such cases, the theory of Cosserat rod can be used for backbone modeling. Continuum robots usually consist of an elastic rod as the backbone and an actuation system. The effects of the actuation systems must be included to the model of Cosserat rod. The effects of the actuation systems are more complicated, when the tendon passages are not parallel to the backbone. In this paper, a model for continuum robotic arms is presented, which considers both, the elastic backbone and the effects of the actuation system. Furthermore, the tendons can twist around the backbone, in an arbitrary passage. The presented model is more compact than other solutions, and will be validated in a case study, by comparison with numerical results obtained from existing models.

关键词： Robots Vectors

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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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IEEE International Conference on Automation Science and engineering (CASE)

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

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.

关键词： Resource management Vehicles Computational modeling Safety Robustness Protocols Supervisory control

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Minimization of the Operation Costs of a Solar/Gas Airconditioning System Using Duration-based Predictive control

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Energy Procedia 2013年 42卷 784-793页

作者： Johanna Salazar Maria del Mar Castillo Francisco Rodriguez Fernando Tadeo Systems Engineering and Automatic Control Department University of Valladolid 47005 Valladolid Spain Automatic Control Electronics and Robotics Research Group University of Almería Ctra. Sacramento s/n 04120 Almería Spain

A proposal for the advanced control of a hybrid solar/gas air-conditioning system and its testing by simulation is presented. The proposal is based on a Predictive controller that optimizes the operational costs by taking into account the costs of gas heating and the electrical consumption. The Constrained Mixed-Integer Predictive control problem obtained is then solved using a formulation based on the duration of the states, which simplifies the numerical solution. The simulation at different times of the year is carried out in order to show the validity of the proposed approach

关键词： Climatic control Solar Climatization Predictive control

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State prediction approach for master-slave agents in presence of communication delay

State prediction approach for master-slave agents in presenc...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sona Ghahremani Majid Nili Ahmadabadi Maryam S. Mirian Babak N. Araabi Member of cognitive robotics Laboratory Department of Electrical and Compo Engineering University of Tehran Iran Control & Intelligent Processing Center of Excellence Department of Electrical and Compo Engineering University of Tehran Iran Robotics and Machine Intelligence Department of Electrical and Compo Engineering University of Tehran Iran

Teleoperation is a mechanism that makes it possible to accomplish a task in an environment where the presence of the master at the slave site is either undesirable or hardly possible The communication delay is a challenge with undesirable effects, jeopardizing the teleoperated systems the most. When the salve agent is performing in a dynamically changing environment, communication delay can be very harmful since the environment is changing continuously even though the agent has stopped operating because of the delay. Many studies have been conducted to overcome time delay effects.

关键词： Robots Predictive models Switches Communications technology Delays

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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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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Pouya Asgari Payam Zarafshan S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

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.

关键词： Manipulator dynamics

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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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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Majid Khadiv S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

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.

关键词： Trajectory Planning Joints Stability criteria Robots Foot

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Robust decentralized control for fuzzy large-scale systems using dynamic output-feedback

Robust decentralized control for fuzzy large-scale systems u...

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American control Conference

作者： Geun Bum Koo Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Seoul 120-749 Korea Department of Control and Robotics Engineering Kunsan National University Kunsan Chonbuk 573-701 Korea

ISBN: (纸本)9781479901777

This paper presents a robust decentralized controller design problem for guaranteed cost stabilization of a class of fuzzy large-scale systems using dynamic output-feedback scheme. A Takagi-Sugeno fuzzy model is adopted for the large-scale system, which has norm-bounded uncertainties and unknown interconnection satisfying the quadratic inequality. Sufficient conditions are derived for both robust asymptotic stabilization and minimization of a given cost function and formulated in terms of linear matrix inequalities. Finally, a numerical example is provided to verify the effectiveness of the proposed technique.

关键词： large-scale systems Cost functions decentralised control Fuzzy T-S fuzzy model

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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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IEEE International Conference on robotics and Automation (ICRA)

作者： Camilo Ordonez Nikhil Gupta Oscar Chuy Emmanuel G. Collins Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida A & M University-Florida State University Tallahassee FL USA

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.

关键词： Vegetation mapping Torque Robot kinematics Actuators Wheels Mobile robots

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