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

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Spacesuits and EVA gloves evolution and future trends of extravehicular activity gloves

Spacesuits and EVA gloves evolution and future trends of ext...

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41st International Conference on Environmental Systems 2011, ICES 2011

作者： Mousavi, M. Mehdi S. Ambrosio, Elisa Paola Appendino, Silvia Chen, Fai Chen Favetto, Alain Manfredi, Diego Pescarmona, Francesco Somà, Aurelio Italian Institute of Technology Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Mechanics Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Control and Computer Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy

ISBN: (纸本)9781600869488

The total time of Extravehicular Activity (EVA) performed by astronauts has increased significantly during the past few years. On the other hand, the bulk and stiffness of the suit itself and in particular of the gloves generate some difficulties for the astronauts to perform their tasks in space. Therefore, it is necessary to improve the EVA glove technology for future needs. Since a lack of categorized information for those who want to improve EVA gloves is evident, in this work a survey on related literature has been carried out and fundamental data has been categorized. The paper starts with an overview on the historical and chronological progress of EVA suits and EVA gloves followed by a review of the previously demonstrated EVA gloves including American and Russian ones. The remaining part of the paper is dedicated to the characteristics of current EVA gloves and to present and future trends in research for further improvements. © 2011 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Manned space flight

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Image-guided robotic mastoidectomy using human-robot collaboration control

Image-guided robotic mastoidectomy using human-robot collabo...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Lim, Hoon Han, Jung-Min Hong, Jaesung Yi, Byung-Ju Lee, Seung Hwan Jeong, Jin Hyeok Matsumoto, Nozomu Oka, Masamichi Komune, Shizuo Hashizume, Makoto Department of Electronic Electrical Control and Instrumentation Eng. Hanyang University Korea Republic of Department of Otorhinolaryngology School of Medicine Hanyang University Korea Republic of Department of Robotics Engineering DGIST Korea Republic of Department of Otorhinolaryngology Graduate School of Medical Sciences Kyushu University Japan Department of Advanced Medical Initiatives Faculty of Medical Sciences Kyushu University Japan

ISBN: (纸本)9781424481149

This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy. © 2011 IEEE.

关键词： Robotic surgery

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Sampled-data fuzzy observer design of nonlinear system for wave energy converter

Sampled-data fuzzy observer design of nonlinear system for w...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Genu Bum Koo Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control Robotics and Systems Engineering Kunsan National University Kunsan Chungbuk South Korea

This paper presents a sampled-data fuzzy observer of nonlinear system for wave energy converter. The forces which affect the wave energy converter are analyzed and the dynamic equation is represented for observer design. A Takagi-Sugeno (T-S) fuzzy model is adopted for the nonlinear systems. In the T-S fuzzy model with sampled-data fuzzy observer, it obtains the norm inequality between the continuous-time state variable and the discrete-time one. Based on the norm inequality, sufficient conditions are derived for decreasing the estimation error and formulated in terms of linear matrix inequalities. Finally, a simulation is provided to verify the effectiveness of the proposed technique.

关键词： Observers Nonlinear systems Mathematical model Estimation error Fuzzy control Force

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Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: Theory and implementation on the iCub

Computing robot internal/external wrenches by means of inert...

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2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011

作者： Ivaldi, S. Fumagalli, M. Randazzo, M. Nori, F. Metta, G. Sandini, G. Robotics Brain and Cognitive Sciences Department Istituto Italiano di Tecnologia Genoa Italy Department of Communication Computer and System Sciences University of Genoa Italy Institut des Systèmes Intelligents et de Robotique Université Pierre et Marie Curie Paris France Department of Control Engineering University of Twente Enschede Netherlands

ISBN: (纸本)9781612848679

Reliable access to dynamics is one of the central challenges in humanoid robotics. In this paper we consider the problem of computing both internal and external wrenches in open multiple branches kinematic chains, which are not equipped with joint-level torque sensors, but on the contrary are provided with inertial and tactile sensing, and a set of six-axes Force/Torque Sensors (FTS) distributed within the chain. The proposed method is grounded on the Enhanced Oriented Graph, a graph-representation of the kinematic chain, enriched with the information coming from the different sensors. Under suitable conditions, a maximum of N+1 external wrenches can be estimated from N six-axes FTS. The graph is built dynamically, and internal and external wrenches are consequently updated. Theoretical results have been implemented in a software library (iDyn) released with an open-source license (GPL) as part of the iCub software project. The proposed method has been applied to 32 of the 53 DOF of the iCub humanoid robot. © 2011 IEEE.

关键词： Open source software

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Adaptive output-feedback control of planar hybrid step motors using position-only feedback

Adaptive output-feedback control of planar hybrid step motor...

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International Conference on control and Automation (ICCA)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA

In this paper, the design of a nonlinear robust adaptive dynamic output-feedback controller for voltage-fed dual-axis linear stepper (Sawyer) motors is addressed using a detailed motor model with electrical dynamics and significant uncertainties and disturbances. The proposed controller utilizes only position measurements in each axis, and achieves practical stabilization of position tracking errors. Velocity and current measurements are not required for feedback. Furthermore, the only electromechanical motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized to remove requirement of knowledge of any other electromechanical system parameters. The controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. The controller also corrects for the yaw rotation to achieve synchrony of motor and rotor teeth.

关键词： Permanent magnet motors Reluctance motors Observers Force Windings Robustness Current measurement

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Mutual inductances in a mathematical model of the three-stage reluctance accelerator

Mutual inductances in a mathematical model of the three-stag...

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International Students Conference on Electrodynamics and Mechatronics (SCE III)

作者： A. Waindok G. Mazur Department of Industrial Electrical Engineering Opole University of Technology Opole Poland Automatic control and robotics Opole University of Technology Opole Poland

The coupled field-circuit model of the three-stage reluctance accelerator is presented in the paper. The finite element method (FEM) has been used to calculate the integral parameters of the model. The circuit model has been obtained with using the Lagrange formulation. In the mathematical model the mutual inductances, which influence the current waves in the coils, have been taken into account. The measurement verification has confirmed the correctness of the mathematical model.

关键词： Mathematical model Coils Projectiles Current measurement Finite element methods Inductance Voltage measurement

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Adaptive backstepping and θ-D based controllers for a tilt-rotor aircraft

Adaptive backstepping and θ-D based controllers for a tilt-...

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Mediterranean Conference on control and Automation (MED)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA

The robust adaptive control of tilt-rotor aircraft is addressed using backstepping and θ-D based control design techniques. The designs specifically focus on providing high robustness to time-varying system parameters and disturbance effects from the environment to attain good disturbance attenuation properties in highly aerodynamically challenging environments such as shipboard environments. The control system is structured with a modular architecture combining adaptive backstepping and adaptive θ-D control algorithms and provides flexibility and customizability for various tilt-rotor aircraft configurations and operating environments. The overall control system and its constituent algorithms are designed to either be able to operate on their own to provide fully autonomous flight or to operate in conjunction with a human pilot or an existing baseline controller in a control augmentation fashion to provide additional robustness and reliability improvements under severe aerodynamic disturbance conditions. The robustness, stability, and performance of the proposed control algorithms are demonstrated through simulation based studies.

关键词： Aerodynamics Aircraft Rotors Atmospheric modeling Attitude control control design

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An analysis of sensitivity distribution using two differential excitation potentials in ECT

An analysis of sensitivity distribution using two differenti...

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2011 5th International Conference on Sensing Technology, ICST 2011

作者： Mohamad, Elmy Johana Faizan Marwah, Omar M. Rahim, Ruzairi Abdul Ling, Leow Pei Dept. of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Dept. of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia

ISBN: (纸本)9781457701672

The investigation of this work is to analysis the sensitivity distributions using two differential excitation potentials, in order to improve the situation of: (1) non-uniform sensitivity distribution: (2) less sensitivity in the central area and (3) non-linear change in ECT (Electrical Capacitance Tomography) system. Simulation using COMSOL Multiphysics is developed in order to obtain the changes in capacitance inter-electrodes and the permittivity of the dielectric material when two differential excitation potentials were injected. The MATLAB simulation is used to obtain the sensitivity distribution inside the closed pipe from the sensor. Generated phantoms and measured values are presented. Simulation is verified using available experimental data through the existing system, 16- segmented ECT sensor electrodes by PROTOM Research Group UTM, MALAYSIA. By using this technique the linear relationship between the capacitances measured to inter-electrodes and the permittivity dramatically improved and the sensitivity distribution for an opposing electrode pair was increased thus gives the sensitivity distribution in the central area increased. The use of this technique does increase the level of detection signals and the SNR(signal noise to ratio) compared to those achieved using standard single-voltage source method. © 2011 IEEE.

关键词： Multiphysics

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64 Channel Digital Hearing Aid Emdedded Firmware

64 Channel Digital Hearing Aid Emdedded Firmware

引用

IEEE Asia-Pacific Conference on Services Computing (APSCC)

作者： Soon-Suck Jarng Mano Samuel Je-Hyung Lee Department of Control & Instrumentation Robotics Engineering Chosun University Gwangju South Korea Algorkorea Company Limited Chosun University Gwangju South Korea

This paper presents some results of a 64 channel digital hearing aid firmware development. Along with nonlinear voice compression, we present noise reduction, microphone & receiver calibration and in-situ algorithms with some results. The FFT-iFFT based compression method can generalize the nonlinear arbitrary compression scheme in connection with spectral noise reduction scheme. Spectral subtraction method was used for noise reduction, but noise spectrum was continuously updated by detecting signal level.

关键词： Auditory system Calibration Noise Microphones Noise reduction Noise measurement Receivers

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Nonverbal communication with a multimodal agent via facial expression recognition

Nonverbal communication with a multimodal agent via facial e...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Samuel Marcos Jaime Gómez-García-Bermejo Eduardo Zalama Joaquín López Robotics and Computer Vision Division CARTIF Centro Tecnológico Valladolid Spain Department of Systems Engineering and Automatic Control Industrial Engineering School University of Valladolid Spain

Based on our previous work in the development of a multimodal animated avatar oriented to human-machine interaction and social robotics, a facial expression recognition system is presented in this paper. Both the avatar's architecture and facial recognition system have been oriented to FACS Action Units recognition and generation, so they can be easily integrated. The resulting animated system is able to maintain nonverbal and verbal bidirectional communication, enhancing the interaction with the avatar and making it more natural for the users.

关键词： Gabor filters Face Mouth Shape Eyebrows Face recognition Feature extraction

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