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2009 American control Conference (ACC 2009)

作者： F. Khorrami P. Krishnamurthy Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY 11201 IntelliTech Microsystems Inc. (IMI) Bowie MD 20715

ISBN: (纸本)9781424445233

In this paper, we propose a Maritime Underwater Navigation System (MUNS) for Unmanned Underwater Vehicles (UUVs). The proposed MUNS has a hierarchical architecture comprising of a Wide Area Planner (WAP) and a Local Area Planner (LAP). MUNS is intended to be a plug-and-play module to provide obstacle avoidance and path planning capabilities to existing UUV platforms thereby expanding operational capabilities in cluttered and littoral environments. MUNS is designed to be flexible and to support a variety of tasks including point-to-point moves, object inspection, contour tracking, and region scanning/searching. The performance of MUNS has been validated through extensive simulation studies.

关键词： Path planning Underwater vehicles Sonar Navigation Inspection Information geometry Global Positioning System control systems Underwater tracking Military communication

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Decision support tool for resource allocation subject to imprecise data constraints

Decision support tool for resource allocation subject to imp...

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International Conference on control and Automation (ICCA)

作者： Grzegorz Bocewicz Zbigniew A. Banaszak Wojciech Muszynski Department of Computer Science and Management Technical University Koszalin Koszalin Poland Department of Business Informatics Warsaw University of Technology Warsaw Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

This paper deals with resource allocation in multi-project manufacturing system design, where more than one shared renewable resource type may be required by the manufacturing operation and the availability of each type is time limited. The aim of the paper is to present a knowledge-based and constraint programming-driven approach to resource allocation where that data can be imprecise. The presented design scheme is used as a framework for developing a task oriented decision support tool for project portfolio prototyping (DST4P 3 ). The tool provides a prompt and interactive service to a set of routine queries defined in terms of both direct and inverse resource allocation tasks.

关键词： Resource management Production Fuzzy set theory Decision making Portfolios Decision support systems Electronic mail Logic programming Job shop scheduling Automatic control

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Optimal braking control for UW-Car using sliding mode

Optimal braking control for UW-Car using sliding mode

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IEEE International Conference on robotics and Biomimetics

作者： Feng Ding Jian Huang Yongji Wang Xueshan Gao Takayuki Matsuno Toshio Fukuda Kosuke Sekiyama Department of Control Science & Engineering Huazhong University of Science and Technology Wuan Hubei China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Intelligent System Design Engineering Toyama Prefectural University Imizu Japan Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan

ISBN: (纸本)9781424447749;9781424447756

There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying Lagrange's motion equation. A sliding mode control (SMC) method is proposed for the dynamic model, which is capable of both handling the mismatched perturbation and keeping the body upright. An optimal braking scheme is introduced which reduces the velocity of UW-Car to zero first and adjusts the displacement of seat to the centre position. Genetic Algorithm (GA) is adopted to search the optimal parameters for sliding mode controller. The optimal braking scheme is implemented by on-line switching three sliding mode controllers. The effectiveness of the proposed methods is finally confirmed by numerical simulation.

关键词： Optimal control Sliding mode control Vehicle dynamics Mechanical systems Mobile robots Intelligent robots Intelligent vehicles Lagrangian functions Equations Genetic algorithms

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Designing of heavy duty handling robot (HEDURI-I robot design)

Designing of heavy duty handling robot (HEDURI-I robot desig...

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International Conference on Mechatronics (ICM)

作者： Chang-Min Ko Gwang-Jo Chung Doo-Hyung Kim Department of Electrical Engineering Changwon NatE28099l University Changwon South Korea Principal Research engineer in Robotics & Control Group Korea Institute Machinery and Materials Daejeon South Korea

Currently, one of the expanded applications of robot system is a heavy duty handling of huge and heavy parts.. In this paper, we introduce the design process of heavy duty industrial robot especially on the analysis technology that we adopted to build the native model of KIMM. In design process of articulated robot, with the payload over 300 Kgf or more, it requires static and dynamic analysis for manipulator that enables the selection of core components such as motor and decelerator. For these purpose, we used the self developed S/W dasiaRODANpsila that is specialized for inverse dynamics analysis. Using the dasiaRODANpsila, we successfully developed the HEDURI-I, the native model of heavy duty handling robot with 600 kgf payload in Korea.

关键词： Manipulator dynamics Payloads Robotic assembly Service robots Process design Commercialization Kinematics engineering drawings Mechatronics Design engineering

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NanoLab: A nanorobotic system for automated pick-and-place handling and characterization of CNTs

NanoLab: A nanorobotic system for automated pick-and-place h...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Volkmar Eichhorn Sergej Fatikow Tim Wortmann Christian Stolle Christoph Edeler Daniel Jasper Ozlem Sardan Peter Boggild Guillaume Boetsch Christophe Canales Reymond Clavel Division Micro Robotics and Control Engineering University of Oldenburg Oldenburg Germany DTU Nanotech Department of Micro and Nanotechnology Technical University of Denmark Denmark Robotic Systems Laboratory Swiss Federal Institute of Technology Lausanne Switzerland

Carbon nanotubes (CNTs) are one of the most promising materials for nanoelectronic applications. Before bringing CNTs into large-scale production, a reliable nanorobotic system for automated handling and characterization as well as prototyping of CNT-based components is essential. This paper presents the NanoLab setup, a nanorobotic system that combines specially developed key components such as electrothermal microgrippers and mobile microrobots inside a scanning electron microscope. The working principle and fabrication of mobile microrobots and electrothermal microgripper as well as their interaction and integration is described. Furthermore, the NanoLab is used to explore novel key strategies such as automated locating of CNTs for pick-and-place handling and methods for electrical characterization of CNTs. The results have been achieved within the framework of a European research project where the scientific knowledge will be transfered into an industrial system that will be commercially available for potential customers.

关键词： Electrothermal effects Grippers Carbon nanotubes Organic materials Nanostructured materials Large-scale systems Production systems Prototypes Electron mobility Scanning electron microscopy

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Defining Spatial Regions in Computer-Assisted Laparoscopic Surgical Training

Defining Spatial Regions in Computer-Assisted Laparoscopic S...

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International Conference and Workshop on engineering of Computer-Based Systems

作者： Chuan Feng Jerzy W. Rozenblit Allan J. Hamilton Andrzej Wytyczak-Partyka Department of ECE University of Arizona Tucson Tucson AZ USA Department of Surgery University of Arizona Tucson Tucson AZ USA University of Arizona Tucson AZ US Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

To provide appropriate guidance in minimally invasive surgical training (and potentially an additional safety measure in the operating room), we propose a model called a "No-Fly Zone" based on the situational awareness enhancing system. By defining the configuration space of the instrument, a collision free region is defined. If an intrusion occurs into the no-fly region space, the system provides audio, visual, and haptic feedback to reinforce an appropriate maneuver. The proposed method is intended to refine surgical skills and to improve the patient safety. Usability experiment will be performed to test the system.

关键词： Minimally invasive surgery Computational modeling Space technology Feedback Surgical instruments Railway safety Haptic interfaces Abdomen Laparoscopes Psychology

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A multi-body approach for 6DOF modeling of Biomimetic Autonomous Underwater Vehicles with simulation and experimental results

A multi-body approach for 6DOF modeling of Biomimetic Autono...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Krishnamurthy F. Khorrami J. de Leeuw M. E. Porter K. Livingston J. H. Long IntelliTech MicroSystems Inc. Bowie MD USA Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA Vassar College Poughkeepsie NY USA

We propose a six degree-of-freedom multi-body approach for modeling and simulation of biologically-inspired (or Biomimetic) autonomous underwater vehicles (BAUVs), i.e., artificial fish. The proposed approach is based on considering the BAUV as comprised of multiple rigid bodies interlinked through joints; the external force and torque on each rigid body in the BAUV is expressed using quasi-steady aerodynamic theory and the joint constraints are imposed through an impulse-based technique. A BAUV simulation platform has been implemented based on the proposed modeling framework and has been applied to analyze a specific BAUV inspired by the electric ray. The hardware implementation of the electric ray inspired BAUV is also presented. Finally, sample simulation results and validation against experimental data collected from the electric ray inspired BAUV are also presented.

关键词： Biomimetics Underwater vehicles Aerodynamics Marine animals Biological system modeling Analytical models Computational fluid dynamics Hydrodynamics Biological control systems Robots

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Active modeling based course control of Unmanned Surface Vehicles

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ICIC Express Letters 2009年第3期3卷 579-584页

作者： Peng, Yan Huang, Qingjiu He, Yuqing Han, Jianda State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Nanta street 114 Shenyang 110016 China School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-13-11 O-okayama Meguro-ku Tokyo 152-8552 Japan

Model uncertainties and external disturbances extensively exist in UnmannedSurface Vehicle (USV) systems, which will greatly deteriorate the autonomousability. In this paper, a, new kind, of robust controller design strategy based,on active modeling technique is proposed, to attenuate the uncertaintiespre-described, in the coarse control of USV systems. Firstly, with detailed,analysis, the uncertainties are introduced, into the new-designed, coarsedynamics model by using the concept of modeling errors;Secondly, Kalman filteris used to estimate simultaneously the modeling errors, which is subsequentlyused, to design the robust controller;Finally, the new strategy is tested withrespect to the unmanned trimaran vehicles system-Tri-0601 to show thefeasibility and validity of it. ICIC International © 2009.

关键词： Kalman filters

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A fluoroscopic-based navigation system for ACL reconstruction assisted by robot

A fluoroscopic-based navigation system for ACL reconstructio...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yan Hu Lei Hu Tianmiao Wang Jun Wei Sun Lei Wenyong Liu Li Wen Control Science and Engineering Department University of Jinan Jinan Shandong China Robotics Institute Beijing University of Aeronautics and Astronautics Beijing China Beijng Institue of Traumatology & Orthopedics Jishuitan Hosp. Beijing China Beihang Univ. China Beihang Unvivercity China

Entry position of the graft is very important in anterior cruciate ligament (ACL) reconstruction. However the determination of entry position is very difficult to the surgeon. In this paper, a navigation and evaluation system assisted by the 6-DOFS robot is implemented for the simulation evaluation and planning insertion points based on quadrant method for the femur and Sta¿ublis method for the tibia on the lateral X-ray image of knee joint. Meanwhile, the implementation of the key technologies such as image correction, image registration, C-arm calibration, video tracking, bone surface reconstruction, image fusion, 6-DOFS robot, and virtual simulation are introduced. Finally, Experiments about the tunnel planning method and real time tracking of surgical apparatus are implemented on 8 bone of plastic models (Sawbone, Swiss) and 10 bones of the goat. In the experiment, the tibia rotates around the femur under the surgeon's implementation to evaluate the planning result with the virtual simulation and evaluation module. The positioning error is 1.59mm from analysis on 30 space targets. The virtual reconstruction ACL is satisfied with two important criteria of the best isometry and collision detection between graft and intercondylar surface of femur. The results are well accepted in operations. In order to satisfying with the request of exact operation in ACL reconstruction, we have developed 6-DOFS passive robot to assist the surgeons entry positioning and drilling of implant tunnels, implementing exact operation in knee joint.

关键词： Navigation Robots Image reconstruction Surges Bones Knee Surface reconstruction Ligaments X-ray imaging Joints

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PSO-based controller design for rotary inverted pendulum system

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Journal of Applied Sciences 2008年第16期8卷 2907-2912页

作者： Hassanzadeh, Iraj Mobayen, Saleh Research Laboratory of Robotics Department of Control Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

This research presents an optimum approach for designing Rotary Inverted Penduhnn (RIP) controller using PSO algorithm. The primary design goal is to balance the pendulum in an inverted position and the control criterion is to minimize the integral absolute error of system angles. Simulation results demonstrate the robustness and effectiveness of proposed controller with regard to parameter variations, various reference trajectory and load disturbances. The proposed method can be considered as a promising way for control of various similar nonlinear systems. © 2008 Asian Network for Scientific Information.

关键词： Genetic algorithms

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