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IEEE International Workshop on robotics in Alpe-Adria-Danube Region (RAAD)

作者： C.-A. Dragos S. Preitl R.-E. Precup D. Pirlea C.-S. Nes E. M. Petriu C. Pozna Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania Department of Strength of Materials Polytechnic University of Timisoara Timisoara Romania School of Information Technology and Engineering University of Ottawa Ottawa Canada Faculty of Engineering Széchenyi István University Gyor Hungary Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania

The paper presents aspects concerning the modeling and driving scenarios of a class of vehicular power train systems. The modeling includes an analysis of the system components which include the spark-ignition internal combustion engine, the torque converter, the metal V-belt type continuously variable transmission and the wheels. Four driving scenarios are illustrated by digital simulation results: acceleration, overtaking maneuver, ramp encounter and engine brake.

关键词： Mechanical power transmission Internal combustion engines Mathematical model Torque converters Wheels robotics and automation Power system modeling Acceleration Vehicle driving Aerodynamics

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Context recognition in mobile robots cooperation using fuzzy signature

Context recognition in mobile robots cooperation using fuzzy...

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2010 International Conference on Theoretical and Mathematical Foundations of Computer Science, TMFCS 2010

作者： Ballagi, Áron Kóczy, László T. Pozna, Claudiu Department of Automation Széchenyi István University Egyetem tér 1. H-9026 Gyor Hungary Inst. of Mechanical Electrical Engineering and Information Technology Széchenyi István University Egyetem tér 1. H-9026 Gyor Hungary Department of Telecommunications and Media Informatics Budapest University of Technology and Economics Magyar tudósok krt. 2. H-1 117 Budapest Hungary Department of Design and Robotics University Transilvania of Brasov B-dul Eroilor 29 Brasov Romania

ISBN: (纸本)9781617820717

Robots cooperation means also to define the commune task. In order to understand their cooperation the robots must have complete knowledge about all possible states of the work or to understand the context by extract useful information from observation. Present paper focus on the second possibility. We propose a strategy of information extraction and context understanding based on an original data structure, the fuzzy signature and on a priori knowledge, the robot codebook. The paper starts by presenting the concept of the fuzzy signature and exemplify the idea of cooperation by context understanding.

关键词： Mobile robots

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Fuzzy signature based fuzzy communication of mobile robots

Fuzzy signature based fuzzy communication of mobile robots

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2010 8th IEEE-RIVF International Conference on Computing and Communication Technologies: Research, Innovation and Vision for the Future, RIVF 2010

作者： Ballagi, Áron Kóczy, László T. Pozna, Claudiu Department of Automation Széchenyi István University Egyetem tér 1 H-9026 Gyor Hungary Inst. of Mechanical Electrical Engineering and Information Technology Széchenyi István University Egyetem tér 1 H-9026 Gyor Hungary Budapest University of Technology and Economics Magyar tudósok krt. 2 H-1117 Budapest Hungary Departament of Design and Robotics University Transilvania of Brasov B-dul Eroilor 29 Brasov Romania

ISBN: (纸本)9781424480753

This paper presents a novel method for control cooperating robots where the explicit communication line is substituted with fuzzy communication algorithms. Fuzzy signatures are used in a context dependent codebook, as complex state description method for intention guessing and action selection. Finally a possible cooperative robot application on a realistic example with missing data components will be shown. ©2010 IEEE.

关键词： Robots

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Qualitative study of nanoassembly process: 2-D molecular dynamics simulations

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Scientia Iranica 2010年第1 F期17卷 1-11页

作者： Mahboobi, S.H. Meghdari, A. Jalili, N. Amiri, F. Institute for Nanoscience and Nanotechnology Sharif University of Technology P.O. Box: 14588-89694 Tehran Iran Piezoactive Systems Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology P.O. Box 11155-9567 Tehran Iran

Precise positioning of nanoclusters through manipulation in the presence of other clusters is one of the main challenging tasks in nanoclusters assembly. Currently, the size of clusters which are used as building blocks is decreasing to a few nanometers. As a result, the particle nature of the matter has a crucial role in manipulator/cluster/substrate interactions. In order to understand and predict the behavior of nanoclusters during the positioning process, it is, therefore, essential to have a deep insight into the aforementioned nanoscale interactions, in this research, 2-D molecular dynamics simulations are used to investigate such behaviors. Performing the planar simulations can provide a rather satisfactory qualitative instrument for our aim while the computation time is considerably decreased in comparison with 3-D simulations. The system considered here is made up of a tip, two clusters and a substrate. The main focus here is on metallic nanoclusters. In order to study the behavior of the above system which is made up of different transition metals, Nose-Hoover dynamics and Sutton-Chen interatomic potential are used. Furthermore, the effect of the material characteristics, tip form and manipulation scheme on the success of the process are examined. Such qualitative simulation studies can pave the pathway towards certain nanopositioning scenarios when considering different working conditions before consuming largescale computation time or high experimental expenses. © Sharif University of Technology, June 2010.

关键词： Molecular dynamics

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Man-machine cooperation without explicit communication

Man-machine cooperation without explicit communication

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作者： Ballagi, Áron Kóczy, László T. Pozna, Claudiu Department of Automation Széchenyi István University Egyetem tér 1 H-9026 Gyor Hungary Inst. of Mechanical Electrical Engineering and Information Technology Széchenyi István University Egyetem tér 1 H-9026 Gyor Hungary Department of Telecommunications and Media Informatics Budapest University of Technology and Economics Magyar tudósok krt. 2 H-1117 Budapest Hungary Departament of Design and Robotics University Transilvania of Brasov B-dul Eroilor 29 Brasov Romania

ISBN: (纸本)9781424496730

This paper presents a novel method for control cooperation between human and robots without any explicit communication line. We have proposed a fuzzy communication philosophy and implementation technique, where the code books are built up by fuzzy signatures. Fuzzy signatures are used as complex state description method for intention guessing and action selection. Robots cooperation means also to define the commune task. In order to understand their cooperation the robots must have complete knowledge about all possible states of the work or to understand the context by extract useful information from observation. Present paper focus on the second possibility. We propose a strategy of information extraction and context understanding based on an original data structure, the fuzzy signature and on a priori knowledge, the robot codebook. The paper starts by presenting the concept of the fuzzy signature and exemplify the idea of cooperation by context understanding. © 2010 TSI Press.

关键词： Robots

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A Kantian pattern of knowledge, the observation representation

A Kantian pattern of knowledge, the observation representati...

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International Symposium on Intelligent Systems and Informatics (SISY)

作者： C. Pozna L.-T. Kóczy R.-E. Precup Á. Ballagi Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania Department of Telecommunications and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Institute of Mechanical Electrical Engineering and Information Technology Széchenyi István University Hungary Department of Automation Széchenyi István University Gyor Hungary

This paper suggests a new pattern of human knowledge. Its execution represents an important stage in the general framework of aiming the building of an artificial cognitive system. First the general presentation of the artificial cognitive system, its objective, main principles and implementation phases are highlighted. The known patterns, which have a cultural (philosophical, psychological and linguistic) origin are then analyzed. Finally the details concerning the proposed pattern are pointed out.

关键词： Humans Mathematical model Cognition Robot sensing systems Psychology Cultural differences

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Real-time velocity optimization of a group of autonomous members via Ant Colony Optimization (ACO)

Real-time velocity optimization of a group of autonomous mem...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Vatankhah, Ramin Etemadi, Shahram Alasty, Aria Boroushaki, Mehrdad Vossoughi, Gholamreza Sharif University of Technology Department of Mechanical Engineering Center of Excellence in Design Robotics and Automation Azadi Avenue 11365-9567 Tehran Iran

ISBN: (纸本)9784907764296

In this paper, the agent velocity in robotic swarm was determined by using Ant Colony optimization (ACO) algorithm to maximize the swarm center velocity. First briefly we present an analytical study of swarm motion in a quasi static environment, in which, motion of each member is being affected by interactive forces and an agent. Interactive effects on each member could be attractive or repulsive due to being far from or close to other members respectively. It is also considered that field of view of all members is limited, i.e. even the agent accesses its local information. Ant colony algorithm is a mathematical model of ants' behaviour in finding the shortest path between nest and food. The agent velocity in robotic swarm was determined by using ACO to maximize the swarm center velocity. The results show the high ability of this evolutionary algorithm in solving complicated dynamic optimization problems. © 2009 SICE.

关键词： Ant colony optimization

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Modeling and sliding mode control of a snake-like robot with holonomic constraints

Modeling and sliding mode control of a snake-like robot with...

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IEEE International Conference on robotics and Biomimetics

作者： Mahdi Haghshenas-Jaryani Gholamreza Vossoughi Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In this paper modeling and robust sliding mode control of a snake-like robot in tracking of serpenoidal motion is addressed. By considering holonomic constraints, the kinematic and dynamic equations of a hyper redundant robot are obtained using Kane's method. The Coulomb friction between robot's wheels and the ground is modeled in two perpendicular directions (i.e. tangential and normal directions) with unknown coefficients of friction in each direction. A sliding manifold is defined by using position and velocity tracking errors of the relative motion between consecutive joints. Continuous approximation of switching control laws is used to eliminate chattering phenomena. The simulation results demonstrate that the snake-like robot realizes the trajectory tracking with desired robustness to the parameter uncertainties.

关键词： Sliding mode control Mobile robots Tracking Friction Robust control Kinematics Equations Wheels Trajectory Robustness

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Novel image analysis for trajectory of microtubules gliding on kinesins with Tip detection

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Journal of Biomechanical Science and engineering 2009年第3期4卷 404-414页

作者： Sugita, Shukei Sakamoto, Naoya Ohashi, Toshiro Sato, Masaaki Department of Biomedical Engineering Graduate School of Biomedical Engineering Tohoku University 6-6-01 Aramaki-aza-Aoba Aoba Sendai 980-8579 Japan VCAD System Research Program RIKEN 2-1 Hirosawa Wako 351-0198 Japan Department of Bioengineering and Robotics Graduate School of Engineering Tohoku University 6-6-01 Aramaki-aza-Aoba Aoba Sendai 980-8579 Japan Division of Human Mechanical Systems and Design Graduate School of Engineering Hokkaido University N13 W8 Kita Sapporo 060-8628 Japan

Control of the gliding directions of kinesin-driven microtubules (MTs) in vitro has good feasibility for the development of nano-scale transport systems. A requirement for the control of transporters in these systems includes detecting the positions of gliding MTs;however, no studies have reported on the monitoring of the positions of gliding MTs. Here, we suggest an algorithm to detect tip coordinates of gliding MTs by binarization, skeletonization, and filtration of fluorescent images of MTs. The algorithm was first applied to artificially drawn segments with given lengths (10-80 pixels), widths (1-10 pixels), and curvature radii (20-120 pixels) to verify the effect of the sizes of MTs on accuracy of tip coordinates extracted by the algorithm, and error was estimated by referring to the true coordinates. The estimated errors were as small as 2 pixels in the width and were not affected by the length and the curvature radius, indicating that our algorithm is useful to extract the tips of MTs. The algorithm was subsequently applied to images of gliding MTs. Since distances from the trajectories of the MTs to the centers of gravity of the MTs (3.7 ± 2.1 pixels) were significantly larger than those to the tips (1.9 ± 0.5 pixels), the use of the tips as representative points of gliding MTs was verified. A detection method using tips of MTs, as suggested in this study, may be a useful technique for monitoring each MT in nanoscale transport systems.

关键词： Pixels

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Nonlinear Power Balance Control of a SPA hydraulic hybrid truck

Nonlinear Power Balance Control of a SPA hydraulic hybrid tr...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： A. Taghavipour A. Alasty M. Saadat F. Department of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Excellence in Design Robotics and Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology Tehran Iran

An integrated procedure for mathematical modeling and power control balance for a SPA (split parallel architecture) hydraulic hybrid vehicle is presented in this paper. Dynamic mathematical model of the powertrain is constructed firstly, which includes five modules: diesel engine, traction motor, starter, loading pump and accumulator. Based on the mathematic model of control modes a stability analysis is done. For some control modes a sliding mode control is designed, which uses full-states closed-loop feedback. The paper finally illustrates and discusses the results of simulation. The results show that the performance and stability of control modes are proper and a power control strategy can be designed to reduce the consumption even more than the presented control.

关键词： Sliding mode control Mathematical model Power control Parallel architectures Vehicle dynamics Mechanical power transmission Diesel engines Traction motors Mathematics Stability analysis

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