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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Weiliang Zuo Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781479928941

In this paper, we consider the source localization for a mixed near-field (NF) and far-field (FF) narrowband signals impinging on a uniform linear array (ULA) with the symmetrical geometric configuration. A computationally efficient direction-of-arrivals (DOAs) and range estimation method for the mixed NF and FF signals is proposed, where the DOAs of the NF and FF signals are estimated separately, and the computationally burdensome eigendecomposition is avoided. Comparing to some existent methods, the proposed method can separate the NF signals from the FF signals more efficiently, and consequently the estimation performance is improved. The effectiveness of the proposed method is verified though numerical examples.

关键词： signals Narrowband near-field Position measurement network file system uniform linear arrays United States department of Agriculture Logic arrays

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Usability feedback of patients and therapists on a conceptual mobile service robot for inpatient and home-based stroke rehabilitation

Usability feedback of patients and therapists on a conceptua...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Rachel Wilk Michelle J Johnson Dept. of Biomedical Engineering Marquette University Milwaukee WI Rehabilitation Robotics and Research and Design Lab. Zablocki VA Medical Center Milwaukee WI Department of Physical Medicine and Rehabilitation University of Pennsylvania Philadelphia PA

In skilled nursing facilities and nursing homes the number of therapists and nurses is insufficient for the number of residents, affecting the quality of rehabilitation and daily care. This study explores the development of an affordable mobile service robot for therapeutic activities in a health center environment where the number of clinicians is insufficient for clinical demand. Using demonstrations and surveys we solicit users' (clinician and patient) responses to a prototype telepresence robot combined with a NAO humanoid robot trunk to facilitate remote communication between the patient and clinician and to complete supervisory exercising coaching. This paper presents the concept prototype and preliminary survey results of users' reactions in order to demonstrate its potential activities in their healthcare center.

关键词： Conferences Robots Biomechatronics

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Detection of the number of noncoherent and coherent signals with a simple planar array

Detection of the number of noncoherent and coherent signals ...

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IEEE Workshop on Signal Processing Advances in Wireless Communications (SPAWC)

作者： Ke Chen Jingmin Xin Hao Tao Nanning Zheng Akira Sano Xi'an Jiaotong University Xi'an Shaanxi CN Xi'an Jiaotong University Suzhou Academy Suzhou China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China Department of System Design Engineering Keio University Yokohama Japan

In this paper, we investigate the number detection of a mixture of noncoherent and coherent signals impinging on a simple planar array consisting of two parallel uniform linear arrays (ULAs). Firstly, the numbers of noncoherent signals and coherent groups are obtained from the ranks of two outer-product matrices. Then a new oblique projector is obtained to suppress the noncoherent signals in the received array data and the number of coherent signals is obtained from the rank of another outer-product matrix which only contains the information of coherent signals. The number of noncoherent signals and that of coherent signals are estimated separately and the effectiveness of the proposed method is substantiated through numerical examples where the simulation results show that the proposed method performs well with a small number of snapshots and/or at relatively low signal-to-noise ratio (SNR).

关键词： Transmission line matrix methods Signal to noise ratio Arrays Estimation Direction-of-arrival estimation Sensors

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design of a new solution for the wheeled hopping robot

Design of a new solution for the wheeled hopping robot

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UKACC International Conference on Control (CONTROL)

作者： Jingjing Liu Hongbo Wang Hongnian Yu Lili Zhang Luige Vladareanu Adrian Bruja Gal I. Alexandru Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China College of Electrical Engineering Yanshan University Qinhuangdao China School of Design Engineering and Computing Bournemouth University Poole UK Robotics and Mechatronic Department Institute of Solid Mechanics Bucharest Romania

In recent years many researchers are trying to combine wheeled movement with legged movement or hopping movement to strengthen the robots adaptability to environment. Hybrid robots are playing a more and more important role in our modern life. However, their controls are mostly complicated. So in this paper we present a new solution for the wheeled hopping robot. Based on the mechanical design, this robot has two movement modes: wheeled and hopping movement mode. While the center of gravity of the mechanism is under the wheels center, the wheeled hopping robot which is like a tumbler can keep its stability even when the wheels' velocity is zero. In this paper, we firstly introduce the description and design of the wheeled hopping robot. Then we explain how to choose the robot parameters and lastly we describe, how the robot through hopping, successfully traverses obstacles and ditches.

关键词： Mobile robots Shafts Wheels Springs Robot kinematics Force

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Autonomous Geolocation of RF Emitters Using Small, Unmanned Platforms

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JOHNS HOPKINS APL TECHNICAL DIGEST 2013年第3期32卷 636-646页

作者： Bamberger, Robert J. Moore, Jay G. Goonasekeram, Ravi P. Scheidt, David H. APL Robotics and Autonomous Systems Group Research and Exploratory Development Department (REDD) Advanced RF Capabilities Group Asym metric Operations Sector APL Electrical Engineering Systems Analysis and Design Group REDD RF & Optical Systems Se

Autonomous geolocation of RF emitters using small, unmanned systems is a game-changing technology for military, government, and commercial missions. This technique employs a novel application of a common RF direction-finding technique called pseudo-Doppler. Emergent autonomous control concepts are used to control the sensor platform and optimize flight trajectories for efficient and rapid geolocation of the target. The basic components of this concept, from sensor development to unmanned system autonomous behaviors, were tested in simulation and subsequently demonstrated in flight during the Tactical Network Topology experiment.

关键词： Network topology

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A control model of active magnetic bearings

A control model of active magnetic bearings

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3rd International Conference of engineering Against Failure, ICEAF 2013

作者： Farmakopoulos, Michael G. Thanou, Michalis D. Nikolakopoulos, Pantelis G. Papadopoulos, Chris A. Tzes, Anthony P. Machine Design Laboratory Department of Mechanical Engineering and Aeronautics University of Patras Patras-26504 Greece Automation and Robotics Laboratory Electrical and Computer Engineering Department University of Patras Patras-26504 Greece

ISBN: (纸本)9789608810433

Active magnetic bearings (AMBs) support a rotating shaft, inside a stator, contactless. Their major benefit in respect to hydrodynamic journal bearings is the possibility of operating in much higher rotational speeds (above 20.000 RPM). This is due to the fact that, their angular velocity is only limited by the strength of the shaft material and always they have stabilized operation without any mechanic contact. Also, AMBs are resulting in long life time, without the use of any lubrication system, eliminating thus the complexity of the lubricant network and promoting green operation of the rotating machines. Furthermore, the electromagnetic bearings are active elements that allow the measurement and the control of the position of the shaft, targeting in most accurate equilibrium positions, in terms of the shaft operation. Therefore, a suitable control system is required for a magnetic bearing, to exploit the above advantageous operational characteristics. In this study, the model of the control system of a Magnetic Bearing in terms of sensors and power amplifiers is presented and its design guidelines are explicitly described. As a first step, the non linear equation of the movement of the shaft inside the magnetic bearing, in one direction (y-axis), is introduced. Then, the linearization of this particular equation in a specific equilibrium point is performed and presented. Consequentially, the linear equation is transformed via Laplace method and the model of the Active Magnetic Bearing is finally developed. In addition to these, the sensor and the power amplifiers are modeled, to simulate the AMB system as a whole. The Matlab software is used to simulate the components that the AMB is consisted of. The P, I and D gains are the result of this simulations, which are produced via robust control method, in Single-Input-Single-Output (SISO) tool module of Matlab. At the end, the Simulink module of Matlab is energized to check the control characteristics of the develop

关键词： Robust control

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design Methodology of a Micro-Scale 2-DOF Energy Harvesting Device for Low Frequency and Wide Bandwidth

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Journal of Sensor Technology 2014年第2期

作者： Mahmoud M. Magdy Ahmed M. R. Fath El-Bab Samy F. M. Assal Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Mechanical Engineering Department Faculty of Engineering Assiut University Production Engineering and Mechanical Design Department Faculty of Engineering Tanta University

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Heuristic based Task Allocation Algorithm for Multiple Robots Using Agents

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Procedia engineering 2013年 64卷 844-853页

作者： Thareswari Nagarajan Asokan Thondiyath Robotics Laboratory Department of Engineering Design Indian Institute of Technology Madras Chennai 600036 India

Task allocation plays an important role in achieving high utilization of robots in multiple robots system. Existing task allocation schemes do not consider the dynamic and unpredictable nature of the environment and try to maximize the robot synergism in order to achieve various objectives such as minimization of turnaround time, make span, and cost. Here the methodology for task allocation using a set of static and mobile agents controlling a pool of multiple robots is presented and the objective is to minimize the turnaround time. The agents are capable of autonomous decision making and thus make autonomous task allocation decisions based on the changing status of the robot system. Also, the agents are used for delivering the task and collecting the results in two separate trips thus avoiding the waiting time, which in turn helps to minimize the turnaround time. The performance of the algorithm is assessed by comparing with other existing task allocation method. The numerical simulation results manifest that the proposed algorithm performs the best under different problem scales and connectivity.

关键词： Multiple robot system mobile agents turn around time

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Deformation modeling of an FGM plate under external force

Deformation modeling of an FGM plate under external force

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2012 3rd International Conference on Manufacturing Science and Technology, ICMST 2012

作者： Mortazavi Moghaddam, A.R. Ahmadian, M.T. Sarkeshi, M. Kheradpisheh, A. Center of excellence in design robotics and automation Department of Mechanical Engineering Sharif University of Technology Tehran 11365-8639 Iran Department of Mechanical Engineering Amirkabir University of Technology 424 Hafez Ave Tehran 15875-4413 Iran

ISBN: (纸本)9783037855638

Deformation modeling of an infinite plate of functionally graded materials (FGMs) loaded by normal force to the plate surface is studied. The material properties of FGM plate are assumed to be graded in the thickness direction according to a simple power-law distribution in terms of the volume fractions of the constituents. The governing equations are based on stress-strain relation and the equilibrium force equation. Keeping generality, FGM plate has been assumed as a multilayer with linear material property in each layer while arbitrary exponential material property through the thickness. A plate made of Aluminum and Alumina is considered as an example to illustrate the effects of the volume fraction exponent and number of layers on the plate deformation response. Effects of number of layers on the accuracy of the plate behavior under external load are examined. Results indicate that at every certain power-law (M), there exist a number of layers beyond which no variation can be detected on the plate deformation response. © (2013) Trans Tech Publications, Switzerland.

关键词： Volume fraction

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