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

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

引用

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

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Automatic detection and localization of da Vinci tool tips in 3D ultrasound

Automatic detection and localization of da Vinci tool tips i...

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3rd International Conference on Information Processing in Computer-Assisted Interventions, IPCAI 2012

作者： Mohareri, Omid Ramezani, Mahdi Adebar, Troy Abolmaesumi, Purang Salcudean, Septimiu Robotics and Control Laboratory Department of Electrical and Computer Engineering University of British Columbia Vancouver BC Canada

ISBN: (纸本)9783642306174

Radical prostatectomy (RP) is viewed by many as the gold standard treatment for clinically localized prostate cancer. State of the art radical prostatectomy involves the da Vinci surgical system, a laparoscopic robot which provides the surgeon with excellent 3D visualization of the surgical site and improved dexterity over standard laparoscopic instruments. Given the limited field of view of the surgical site in Robot-Assisted Laparoscopic Radical Prostatectomy (RALRP), several groups have proposed the integration of Transrectal Ultrasound (TRUS) imaging in the surgical work flow to assist with the resection of prostate and sparing the Neuro-Vascular Bundle (NVB). Rapid and automatic registration of TRUS imaging coordinates to the da Vinci tools or camera is a critical component of this integration. We propose a fully automatic registration technique based on accurate and automatic localization of robot tool tips pressed against the air-tissue boundary of the prostate, in 3D TRUS. The detection approach uses a multi-scale filtering technique to uniquely identify and localize the tool tip in the ultrasound volume and could also be used to detect other surface fiducials in 3D ultrasound. Feasibility experiments using a phantom and two ex vivo tissue samples yield promising results with target registration error (defined as the root mean square distance of corresponding points after registration) of (1.80 mm) that proves the system's accuracy for registering 3D TRUS to the da Vinci surgical system. © 2012 Springer-Verlag.

关键词： Tissue

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Multibody bionic systems modeling: The puppet master approach

Multibody bionic systems modeling: The puppet master approac...

引用

2012 13th International Carpathian control Conference, ICCC 2012

作者： Kowal, Janusz Lepiarz, Wojciech Sioma, Andrzej AGH - University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

In this study, the puppet master approach to solve the kinematics of complex multi-body systems is introduced. The puppet master approach is shown in comparison with traditional analytical one. The method is used to solve multi-body systems of bio-inspired concept prototypes. In these examples the strong and weak sides of this approach are shown. The puppet master approach can be used to rapidly evaluate and compare different concept prototypes. © 2012 IEEE.

关键词： Biomimetics

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Bi-axial exciter of mechanical vibrations

Bi-axial exciter of mechanical vibrations

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2012 13th International Carpathian control Conference, ICCC 2012

作者： Pluta, Janusz Orkisz, Pawel AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

This article presents mechanical vibrations exciter, which is electrohydraulic device designed to extorting bi-axial vibrations. The priority task of exciter is to excite physical model with related to exploitations real conditions parameters of signals The building of working device and his important assemblies are described. The most important part of exciter is electrohydraulic control system which ensures the obtainment of required parameters of generated signal. Exciter is compound from: mechanical construction, two servomechanisms, station of hydraulic power supply, electric power supply and control system. The possibility of built device with can extorting vibrations of horizontal platform both in one, as in two axis was introduced. For end the results after two years of exploitation were showed. © 2012 IEEE.

关键词： control systems

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Segregation in swarms of e-puck robots based on the Brazil nut effect

Segregation in swarms of e-puck robots based on the Brazil n...

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11th International Conference on Autonomous Agents and Multiagent Systems 2012: Innovative Applications Track, AAMAS 2012

作者： Chen, Jianing Gauci, Melvin Price, Michael J. Groß, Roderich Natural Robotics Lab. Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781627481564

When a mixture of particles with different attributes undergoes vibration, a segregation pattern is often observed. For example, in muesli cereal packs, the largest particles-the Brazil nuts-tend to end up at the top. For this reason, the phenomenon is known as the Brazil nut effect. In previous research, an algorithm inspired by this effect was designed to produce segregation patterns in swarms of simulated agents that move on a horizontal plane. In this paper, we adapt this algorithm for implementation on robots with directional vision. We use the e-puck robot as a platform to test our implementation. In a swarm of e-pucks, different robots mimic disks of different sizes (larger than their physical dimensions). The motion of every robot is governed by a combination of three components: (i) attraction towards a point, which emulates the effect of a gravitational pull, (ii) random motion, which emulates the effect of vibration, and (iii) repulsion from nearby robots, which emulates the effect of collisions between disks. The algorithm does not require robots to discriminate between other robots;yet, it is capable of forming annular structures where the robots in each annulus represent disks of identical size. We report on a set of experiments performed with a group of 20 physical e-pucks. The results obtained in 100 trials of 20 minutes each show that the percentage of incorrectly-ordered pairs of disks from different groups decreases as the size ratio of disks in different groups is increased. In our experiments, this percentage was, on average, below 0.5% for size ratios from 3.0 to 5.0. Moreover, for these size ratios, all segregation errors observed were due to mechanical failures that caused robots to stop moving. Copyright © 2012, International Foundation for Autonomous Agents and Multiagent Systems (***). All rights reserved.

关键词： Multipurpose robots

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The application of a non-uniform magnetic field to semi-active vibration control of a beam with magnetorheological fluid

The application of a non-uniform magnetic field to semi-acti...

引用

2012 13th International Carpathian control Conference, ICCC 2012

作者： Snamina, Jacek AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

The influence of non-uniform magnetic field on the beam with magnetorheological fluid is used to build the vibration control algorithms. A special laboratory stand with appropriate electromagnet was built to test free and forced vibrations of the beam with and without control. Experiments were done to determine the stiffness and damping parameters of the beam for various currents flowing in electromagnet coils. A vibration control algorithm was proposed, based on the system identification data and using the averaging technique of nonlinear system analysis. © 2012 IEEE.

关键词： Vibration control

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The application of a piezoelectric stack for control of small flow intensity hydraulic fluid

The application of a piezoelectric stack for control of smal...

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2012 13th International Carpathian control Conference, ICCC 2012

作者： Pluta, Janusz Sibielak, Marek AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

This paper aims to present the throttle valve, in which a piezoelectric stack was used for adjustment of the flow section area of the throttle aperture. The valve was built based on a proprietary design, using the components of a standard manufactured overflow valve. Laboratory tests were carried out to establish the valve's characteristics, describing its usefulness for control of small flow intensity. LabView software was used for measuring the data gathered. The test results, after conversion, were developed using the Matlab/Simuling software package. This paper presents the most notable results of the tests of a valve equipped with a high-voltage piezoelectric stack. Based on the results obtained, the functional correlation between the volumetric flow rate, pressure drop in the throttling aperture and control signal input to the piezoelectric stack were determined. © 2012 IEEE.

关键词： MATLAB

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3D mobility learning and regression of articulated, tracked robotic vehicles by physics-based optimization

3D mobility learning and regression of articulated, tracked ...

引用

9th Workshop on Virtual Reality Interactions and Physical Simulations, VRIPHYS 2012

作者： Papadakis, Panagiotis Pirri, Fiora Department of Control and Management Engineering Perception and Cognitive Robotics Laboratory University of Rome La Sapienza Italy

ISBN: (纸本)9783905673968

Motion planning for robots operating on 3D rough terrain requires the synergy of various robotic capabilities, from sensing and perception to simulation, planning and prediction. In this paper, we focus on the higher level of this pipeline where by means of physics-based simulation and geometric processing we extract the information that is semantically required for an articulated, tracked robot to optimally traverse 3D terrain. We propose a model that quantifies 3D traversability by accounting for intrinsic robot characteristics and articulating capabilities together with terrain characteristics. By building upon a set of generic cost criteria for a given robot state and 3D terrain patch, we augment the traversability cost estimation by: (i) unifying pose stabilization with traversability cost estimation, (ii) introducing new parameters into the problem that have been previously overlooked and (iii) adapting geometric computations to account for the complete 3D robot body and terrain surface. We apply the proposed model on a state-of-the-art Search and Rescue robot by performing a plurality of tests under varying conditions and demonstrate its efficiency and applicability in real-time. © The Eurographics Association 2012.

关键词： Robot programming

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Predictive Functional controller design for pneumatic actuator with stiffness characteristic

Predictive Functional Controller design for pneumatic actuat...

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IEEE/SICE International Symposium on System Integration

作者： Khairuddin Osman Ahmad 'Athif Mohd Faudzi M.F. Rahmat Nu'man Din Mustafa Koichi Suzumori Department of Industrial Electronics Universiti Teknikal Malaysia Melaka Durian Tunggal Melaka Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Skudai Malaysia Department of Control and Mechatronics Engineering Universiti Teknologi Malaysia Skudai Malaysia Universiti Teknologi Malaysia Skudai Johor MY Graduate School of Natural Science and Technology Okayama University Okayama Japan

This paper presents a model and controller design for a pneumatic actuator system. Three control strategies of position, force and compliance control are proposed. From the compliance control, stiffness characteristic of the pneumatic actuator will be presented in real-time system. Model of the pneumatic actuator system (transfer function) is obtained from System Identification (SI) method. Next, Predictive Functional control (PFC) with observer design is selected as the control strategy for the pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiment. Result shows that the PFC controller is adapted to the system and able to control successfully in both simulation and experiment.

关键词： Mathematical model Force Equations Observers Computational modeling Pneumatic systems Real-time systems

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Korean voice recognition system development

Korean voice recognition system development

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3rd International Conference on Information Technology Convergence and Services, ITCS 2011 and 2011 FTRA International Conference on Intelligent robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2011

作者： Jarng, Soon Suck Department of Control and Instrumentation Robotics Engineering Chosun University 375 Seoseok-Dong Dong-Ku Gwang-Ju Korea Republic of

ISBN: (纸本)9789400725973

In this paper, the voice recognition algorithm based on Hidden Markov Modeling (HMM) is analyzed in detail. The HMM voice recognition algorithm is explained and the importance of voice information DB is revealed for better improvement of voice recognition rate. An algorithm designed to extract syllable parts from continuous voice signal is introduced. This paper shows the relationship between recognition rates and number of applying syllables and number of groups for applying syllables. © 2011 Springer Science+Business Media B.V.

关键词： Hidden Markov models

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