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Corretion to “Shift-Adaptive Estimation of Joint Angle Using Instrumented Brace With Two Stretch Sensors Based on Gaussian Mixture Models” [Oct 20 5881-5888]

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IEEE robotics and Automation Letters 2020年第4期5卷 6804-6804页

作者： Ryo Eguchi Brendan Michael Matthew Howard Masaki Takahashi School of Science for Open and Environmental Systems Graduate School of Science and Technology Keio University Yokohama Japan Centre for Robotics Research Department of Engineering King's College London London U.K. Department of System Design Engineering Faculty of Science and Technology Keio University Yokohama Japan

Presents corrections to the above named paper.

关键词： Medical robotics Wearable sensors Maximum likelihood estimation Regression analysis Gaussian mixture model

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Developing a Trajectory Planning for Curved-Contoured Surfaces for Use by 8-DoF Workcell in Robotic Fibre Placement

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IOP Conference Series: Materials Science and engineering 2020年第1期859卷

作者： Mohamed M.A. Ammar Bijan Shirinzadeh Pan Zhao Yaoyao Shi Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton 3800 Australia The Key Laboratory of Contemporary Design and Integrated Manufacturing Technology Ministry of Education Northwestern Polytechnical University Xi'an Shaanxi 710072 China

The replacement rate of conventional material by composites is increasing. Possessing high specific strength and stiffness makes composites attractive to many applications. Different techniques are being utilized for composite placement processes. Robotic Fibre Placement (RFP) is introduced as a competing approach for composite fabrication. This approach can provide many advantages; e.g. low labor cost, high performance, quick and effective process. The current work proposes an 8-DoF system established for laying the composite material. This system composed of three main units includes a 6-DoF industrial robot and two mandrel tools with different configurations. A sensory-based feedback control system is developed to manage the placement process. The placement process can be performed on two different surfaces. The end-cap surface has been fabricated then the cylindrical surface. Different geometries of pressure vessels have been generated; e.g. Oxidizer tanks that can be used in many applications such as (Hybrid rockets).

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THE EXPLICIT GIBBS-APPELL EQUATIONS of MOTION for RIGID-BODY CONSTRAINED MECHANICAL SYSTEM

THE EXPLICIT GIBBS-APPELL EQUATIONS of MOTION for RIGID-BODY...

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

作者： S. Mohammad Mirtaheri Hassan Zohoor Department of Mechanical Engineering South Tehran Branch Islamic Azad University Tehran Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

The present paper aims to provide a direct formulation for rigid body dynamics in terms of quasi-velocities. The general form of explicit equations of motion was provided for mechanical systems subjected to holonomic and nonholonomic constraints by using Gibbs-Appell method. The proposed method aimed to select quasi-velocities which satisfy all constraint conditions, eliminate the Lagrange multipliers, and reduce the number of equations. This method was used in the presence of both holonomic and nonholonomic constraints. Finally, the suggested approach was employed to derive the equations of motion for a rolling disk as an illustrative example and compare the results with Udwadia-Kalaba method.

关键词： Mathematical model Acceleration Robot kinematics Manipulator dynamics Mechanical systems Jacobian matrices

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Wideband Cognitive Radio Networks Based Compressed Spectrum Sensing: A Survey

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Journal of Signal and Information Processing 2018年第2期9卷 122-151页

作者： Mohammed Abo-Zahhad Sabah M. Ahmed Mohammed Farrag Khaled Ali BaAli Electronics and Communication Engineering Department School of Electronics Communications and Computer Engineering Egypt-Japan University for Science and Technology Alexandria Egypt Electrical and Electronics Engineering Department Faculty of Engineering Assiut University Assiut Egypt Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University for Science and Technology Alexandria Egyp Electrical Engineering Department King Khalid University (KKU) Abha KSA Electronics and Communication Department Faculty of Engineering and Petroleum Hadhramaut University Mukalla Republic of Yemen

Spectrum sensing is a core function at cognitive radio systems to have spectrum awareness. This could be achieved by collecting samples from the frequency band under observation to make a conclusion whether the band is occupied, or it is a spectrum hole. The task of sensing is becoming more challenging especially at wideband spectrum scenario. The difficulty is due to conventional sampling rate theory which makes it infeasible to sample such very wide range of frequencies and the technical requirements are very costly. Recently, compressive sensing introduced itself as a pioneer solution that relaxed the wideband sampling rate requirements. It showed the ability to sample a signal below the Nyquist sampling rate and reconstructed it using very few measurements. In this paper, we discuss the approaches used for solving compressed spectrum sensing problem for wideband cognitive radio networks and how the problem is formulated and rendered to improve the detection performance.

关键词： Cognitive Radio Spectrum Sensing Compressive Sensing Compressed Measurements Nyquist Sampling Rate

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Spacecraft heath monitoring using a biomimetic fault diagnosis scheme

Spacecraft heath monitoring using a biomimetic fault diagnos...

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作者： Garcia, Diego F. Perez, Andres E. Moncayo, Hever Rivera, Karina Betancur, Yomary DuPuis, Michael Mueller, Robert P. Department of Aerospace Engineering Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University Daytona BeachFL United States Research Engineer Robotics and Autonomous Systems Testing and Design Branch Swamp Works Laboratory United States Senior Technologist Exploration Research and Technology Programs Science and Technology Projects Division United States

This paper presents the design, development, and implementation of a bioinspired fault diagnosis scheme applied to a cold gas-based spacecraft *** proposed framework relies on the artificialimmune system metaphor with the goal of monitoring the health of the spacecraft by detecting subsystem upset conditions such as actuator *** dynamic inversion baseline controller with adaptation capabilities has been developed and implemented for attitude control of the spacecraft. The performance of the proposed health-monitoring scheme is determined by analyzing the system response under different actuator failures while the spacecraft is operated with and without adaptive augmentation. In both cases, the results show acceptable performance in terms of high detection activity and low false alarms with real-Time capabilities. The application of this artificial intelligence-based scheme to aerospace systems will provide a high impact on space exploration by increasing mission protection and performance. © 2018 by H. Moncayo. Published by the American Institute of Aeronautics and Astronautics.

关键词： Attitude control

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Author Correction: Dynamic response of the nonlocal strain-stress gradient in laminated polymer composites microtubes

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Scientific reports 2020年第1期10卷 19083页

作者： Mohammad Amin Oyarhossein As'ad Alizadeh Mostafa Habibi Mahmoud Makkiabadi Mohsen Daman Hamed Safarpour Dong Won Jung Department of Civil Engineering University of Aveiro Aveiro Portugal. Department of Mechanical Engineering Urmia University of Technology Urmia Iran. Department of Mechanical Engineering College of Engineering University of Zakho Zakho Iraq. Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran. moctafa_habibi@***. Department of Mechanical Engineering Amirkabir University of Technology Tehran Iran. Department of Mechanics Imam Khomeini International University Qazvin Iran. School of Mechanical Engineering Jeju National University Jeju Jeju-do 690-756 South Korea. jdwcheju@jejunu.ac.kr.

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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Bio-inspired jumping maneuver for launching flapping wing micro air vehicles

Bio-inspired jumping maneuver for launching flapping wing mi...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Omuzi A. Hudson Mohamed Fanni Sabah M. Ahmed Ahmed Sameh Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology New Borg El Arab City Egypt Production Eng. & Mechanical Design Department Mansoura University Mansoura Egypt Department of Electrical Engineering Assiut University Assiut Egypt

This paper presents the design and simulation of a jumping mechanism as a means of flight initiation in Flapping Wing Micro Air Vehicles (FWMAV) inspired by birds. Most flying birds take off for flight from standing or perching position at low air speed. A lightweight 4-bar leg mechanism has been designed using dimensional synthesis by motion generation. Graphical and analytical methods are established to determine the kinematic dimensions that fulfill some prescribed take-off maneuvers. Link cross sections have been optimized to reduce weight. The jumping leg has been tested with an efficient aerodynamic model that accurately predicts unsteady flapping wing aerodynamic characteristics just after launching. Transition of forces from leg to wings has been analyzed. For a jumping angle of about 50 degrees at 10m/s the 33.3 g ornithopter model gains momentum and reaches steady state flight at a velocity close to the initial value.

关键词： Conferences Autonomous robots

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RoboFDM: A robotic system for support-free fabrication using FDM

RoboFDM: A robotic system for support-free fabrication using...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Wu, Chenming Dai, Chengkai Fang, Guoxin Liu, Yong-Jin Wang, Charlie C.L. TNList Department of Computer Science and Technology Tsinghua University Beijing China Department of Design Engineering and TU Delft Robotics Institute Delft University of Technology Netherlands

ISBN: (纸本)9781509046331

This paper presents a robotic system - RoboFDM that targets at printing 3D models without support-structures, which is considered as the major restriction to the flexibility of 3D printing. The hardware of RoboFDM consists of a robotic arm providing 6-DOF motion to the platform of material accumulation and an extruder forming molten filaments of polylactic acid (PLA). The fabrication of 3D models in this system follows the principle of fused decomposition modeling (FDM). Different from conventional FDM, an input model fabricated by RoboFDM is printed along different directions at different places. A new algorithm is developed to decompose models into support-free parts that can be printed one by one in a collision-free sequence. The printing directions of all parts are also determined during the computation of model decomposition. Experiments have been successfully taken on our RoboFDM system to print general freeform objects in a support-free manner. © 2017 IEEE.

关键词： Fabrication

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Micro/macro-positioning control of a novel contactless active robotic joint using active magnetic bearing

Micro/macro-positioning control of a novel contactless activ...

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2017 IEEE International Conference on Industrial Technology, ICIT 2017

作者： Selmy, Mohamed Fanni, Mohamed Mohamed, Abdelfatah M. Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology E-JUST New Borg El Arab City Alexandria Egypt

ISBN: (纸本)9781509053209

In this paper the micro/macro-positioning control of a novel contactless active robotic joint using active magnetic bearing (AMB) is presented. In clean environments, such as surgery or clean rooms, the use of robots with this novel joint is useful to avoid friction, dust generation, and oil lubrication. Moreover, this kind of robots can be used in the applications that need high precision micropositioning control such as semiconductor wafers manipulation to form semiconductor devices. The novel robotic joint used in this paper is designed using finite element method. This joint has 6 degrees-of-freedom (DOFs), 1-DOF for robot joint roll angle and 5-DOF for AMB. The robot joint roll angle is controlled in macro-scale accuracy. The macro-scale positioning of the joint roll angle is needed for gross motion like normal robot revolute joint. The other 5-DOF of the joint are controlled like AMB with the different that the target pitch and yaw angles as well as the axial, vertical and horizontal movements are different than zero but in micro-scale range. The robot joint roll angle is controlled using a PID-based Feedback linearization controller, while a state feedback controller with integral term is used for controlling the AMB 5-DOFs. The micro/macro-positioning control of the novel robotic joint is implemented using MATLAB/Simulink. The robustness of the controllers is tested against payload variations. The results demonstrate that the proposed novel robotic joint is feasible and valid in the applications that need high precision micro-macro-positioning control. © 2017 IEEE.

关键词： Controllers

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Correlation between acute phase head injury to cyclists and consciousness disturbance: A case study in reconstruction of single-cyclist accident

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Journal of Biomechanical Science and engineering 2019年第1期14卷 18-00143-18-00143页

作者： Oikawa, Shoko Matsui, Yasuhiro Gomei, Sayaka Konno, Tomoe Ueno, Takahiro Nakadate, Hiromichi Aomura, Shigeru Graduate School of System Design Tokyo Metropolitan University 6-6 Asahigaoka Hino-shi Tokyo191-0065 Japan Vehicle Safety Research Department National Traffic Safety and Environment Laboratory 7-42-27 Jindaiji-Higashi-machi Chofu-shi Tokyo182-0012 Japan Dokkyo Medical University Koshigaya Hospital 2-1-50 Minami-Koshigaya Koshigaya-shi Saitama343-8555 Japan Department of Mechanical Engineering and Robotics Shinshu University 3-15-1 Tokida Ueda-shi Nagano386-8567 Japan

This study first examined the correlation between types of acute phase head injuries to cyclists and consciousness disturbance by using data from patients at the emergency room of Dokkyo Medical University Koshigaya Hospital in Japan. The injuries were compared for cases where the cyclists experienced consciousness disturbance and otherwise. The results showed that skull fractures and brain contusions were the most frequent consequences of head injuries to cyclists in general. However, the average number of head injuries by types for cyclists suffering consciousness disturbance was higher than that for cyclists who had not experienced it, for both head fractures (0.9 versus 0.7) and brain injuries (1.9 versus 0.5). This implies that head fractures and brain injuries may increase the probability of consciousness disturbance. Next, considering a cyclist who had sustained a head injury and suffered acute consciousness disturbance in an accident while not wearing a helmet, a case study was conducted to quantify the effectiveness of a bicycle helmet in reducing the intensity of traumatic head injuries by using a whole-body model, a finite element model of the human head, and a model of the bicycle helmet on a mathematical dynamic modeling software. A comparison of the peak values computed for cases of cyclists with and without a helmet showed that in the former, strain on the skull was reduced by 95.9% in cases of skull fractures, and the von Mises stress on the brain was reduced by 23.3% for cases of brain contusions. The results suggest that helmet use reduces the risk of skull fracture and brain contusions in cyclists because it considerably reduces the impact. Moreover, the use of helmets can reduce the probability of consciousness disturbance. © 2019 The Japan Society of Mechanical Engineers.

关键词： Fracture

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