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10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009

作者： Pozna, Claudiu Precup, Radu-Emil Preitl, Stefan Petriu, Emil M. Tar, József K. Department of Product Design and Robotics University Transilvania of Brasov Bd. Eroilor 28 RO-500036 Brasov Romania Department of Automation and Applied Informatics Politehnica University of Timisoara Bd. v. Parvan 2 RO-300223 Timisoara Romania School of Information Technology and Engineering University of Ottawa 800 King Edward Ottawa ON K1N 6N5 Canada Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Bécsi úT 96/B H-1034 Budapest Hungary

The paper suggests a three level hierarchical structure dedicated to the behaviourist representation of knowledge. The first level, referred to as the strategic one, is used in the problem solving providing the solution. The second level, called the tactical one, is employed in the solution implementation. The third level, named as the operational one, is meant for the solution execution. The first level is a strategically level the second is a tactical level and the third is an operational level. Feedback information from all higherhierarchical levels is used in learning to develop the lower levels. A case study concerning the control system of an autonomous car is considered to exemplify the design of the new knowledge representation structure.

关键词： Knowledge representation

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Investigation of wagon derailment moving on random rail irregularities Using nonlinear 3-dimentional model

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International Journal of engineering, Transactions B: Applications 2008年第4期21卷 385-400页

作者： Durali, M. Jalili, M.M. Department of Mechanical Engineering Sharif University of Technology Center of Excellence in Design Robotics and Automation P.O. Box 11365-9567 Tehran Iran

Rail irregularity is one of the most effective factors in train derailment. theste irregularities have generally random distribution that are assumed to be stationary random and ergodic processes in space, with Gaussian amplitude probabiliy densities and zero mean values. The quality of irregularities, their distribution along the rails and wagon speed are the main factors for train derailment which is investigated in this article. The car model is nonlinear and three-dimensional with 48 DOF. Using simulation results, the safe speed for moving wagon on different types of random rail irregularities is also determined.

关键词： Derailments

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Chaos control in single mode approximation of T-AFM systems using nonlinear delayed feedback based on sliding mode control

Chaos control in single mode approximation of T-AFM systems ...

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19th Int. Conf. design Theory and Methodology and 1st Int. Conf. Micro and Nano Systems, presented at - 2007 ASME International design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE2007

作者： Sadeghian, Hoda Salarieh, Hassan Arjmand, Mehdi Tabe Alasty, Aria Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology PO Box 11365-9567 Tehran Iran

ISBN: (纸本)0791848043

The taping mode Atomic Force Microscopic (T-AFM) can be properly described by a sinusoidal excitation of its base and nonlinear potential interaction with sample. Thus the cantilever may cause chaotic behavior which decreases the performance of the sample topography. In this paper a nonlinear delayed feedback control is proposed to control chaos in a single mode approximation of a T-AFM system. Assuming model parameters uncertainties, the first order Unstable Periodic Orbits (UPOs) of the system is stabilized using the sliding nonlinear delayed feedback control. The effectiveness of the presented methods is numerically verified and the results show the high performance of the controller. Copyright © 2007 by ASME.

关键词： Sliding mode control

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On-line detection of the number of narrowband signals with a uniform linear array

On-line detection of the number of narrowband signals with a...

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16th European Signal Processing Conference, EUSIPCO 2008

作者： Xin, Jingmin Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

For any practical direction estimation and tracking system in array processing, estimating the number of incident signals accurately and tracking its possible changes in an on-line way is a critical requirement. In this paper, a new QR-based adaptive detection algorithm is proposed to estimate the coherent/incoherent narrowband signals impinging on a uniform linear array (ULA), where the updating of eigenvalues and the threshold setting are avoided. The effectiveness of the proposed method is verified through numerical examples, and simulation results show that the proposed method has good detection performance to track the number of suddenly appearing/disappearing incident signals or that of closely-spaced signals with time-varying directions. copyright by EURASIP.

关键词： Array processing

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A new approach to interactive grasping simulation of product concepts in a virtual reality environment

A new approach to interactive grasping simulation of product...

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27th Computers and Information in engineering Conference, presented at - 2007 ASME International design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE2007

作者： Rusák, Zoltán Antonya, Csaba Der Vegte, Wilfred Van Horváth, Imre Varga, Edit Faculty of Industrial Design Engineering Delft University of Technology Landbergstraat 15 2628CE Delft Netherlands Product Design and Robotics Department Transilvania University of Brasov Bdul Eroilor 29 500036 Brasov Romania

ISBN: (纸本)0791848035

Customer evaluation of concepts plays an important role in the design of handheld devices, such as bottles of douche gels and shampoos, where the phenomenon of grasping needs to be evaluated. In these applications important information on the aspects of ergonomics and user behaviors could be gathered from computer simulation. It is our ultimate goal to develop an environment in which users and designers can freely interact with product concepts. In our approach to grasping simulation there is no tactile feedback and we do not measure the exerted grasping forces. There is no wiring of the human hand, and the users are not limited in their movements. We measure the motion of the human hand, compute the grasping forces based on anthropometric data, and simulate the reaction of product concepts in a physically based virtual reality environment. Our contribution consists of: (i) a method, which takes into account the anatomy of the human hand in order to determine the maximum grasping forces, and (ii) an approach which enables to control the grasping forces based on (a) the penetration of the virtual human hand into the virtual model of product concept (b) the posture of the grasping, and (c) the angles of the joints. The paper reports on the framework of our approach and presents an application. Copyright © 2007 by ASME.

关键词： Ergonomics

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Large Workspace Haptic Devices - A New Actuation Approach

Large Workspace Haptic Devices - A New Actuation Approach

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Michael Zinn Oussama Khatib Bernard Roth J. Kenneth Salisbury Department of Mechanical Engineering University of Wisconsin Madison USA Robotics LaboratoryDepartment of Computer University of Stanford USA Design Division Department of Mechanical Engineering University of Stanford USA

Large workspace haptic devices have unique requirements, requiring increased power capabilities along with increased safety considerations. While there are numerous haptic devices available, large workspace systems are hampered by the limitations of current actuation technology. To address this, the Distributed Macro-Mini (DM 2 ) actuation method has been applied to the design of a large workspace haptic device. In this paper, the DM 2 method is described and we present experimental results which demonstrate its effectiveness. Finally, the control design is presented along with a discussion of the unique challenges associated with its robustness.

关键词： Haptic interfaces Frequency Safety devices Admittance Torque Bandwidth Friction Impedance Force control Mechanical engineering

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Modular hybrid robots with biologically inspired actuators and joint stiffness control

Modular hybrid robots with biologically inspired actuators a...

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

作者： D. Surdilovic J. Radojicic M. Schulze M. Dembek Department Automation and Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany Engineering Society for Automation and Computer Technology GmbH Berlin Germany

The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the internal module (i.e. robot joint) stiffness is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.

关键词： Biological control systems Pneumatic actuators Control systems Service robots Muscles Rubber Bellows Biological systems Jacobian matrices Force control

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Macro-micro tele-operation system based on body image embedding for bio-manipulation under microscope

Macro-micro tele-operation system based on body image embedd...

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2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "System Cell engineering by Multi-scale Manipulation"

作者： Mochiyama, Hiromi Kobayashi, Hisato Tatsuno, Junya Kawai, Hiroyuki Department of Intelligent Interaction Technologies University of Tsukuba Tennoudai 1-1-1 Tsukuba Ibaraki 305-8573 Japan Faculty of Engineering and Design Hosei University Fujimi 2-17-1 Chiyoda-ku Tokyo 102-8160 Japan Department of Mechanical Engineering Kinki University 1 Takeya Umenobe Higashihiroshima City Hiroshima 739-2116 Japan Department of Robotics Kanazawa Institute of Technology 7-1 Ohgigaoka Nonoichi Ishikawa 921-8501 Japan

ISBN: (纸本)9781424429196

In this paper, in order to provide with an inex- pensive solution to efficient bio-manipulation under microscope, we propose a macro-micro tele-operation system based on body image embedding. It is known in neuroscience that we could feel our body image for the object which is not our own body in certain conditions. Our idea is to utilize the body image illusion for generating high immersive feelings in bio-manipulation under microscope, instead of aiming at the perfect transparency, the conventional target of tele-manipulation system, which is difficult to attain. Our proposed system has two additional components as well as the conventional system where micro manipulators hydraulically connected to joysticks or dials handled by an operator are used for fine bio-manipulation under a microscope. The one component is for the body posi- tion/orientation consistency between proprioception and vision. In this component, due to appropriate use of a camera for a microscope, a visual display, mirrors and tiny dummy hands, an operator can see the magnified visual image of the tiny dummy hands similar to his/her own hands in shape at the position and orientation where he/she feel them proprioceptively. The other component is for the contact consistency between touch and vision. In this component, the contact between a tool grasped by an operator's hands and a manipulated object observed by eyes should coincide to the contact felt by his/her hand skin. To do this, haptic stimulators such as piezo actuators are activated at the timing of contact which is detected, for example, by the vision processing from the microscopic images. © 2008 IEEE.

关键词： Microscopes

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Macro-micro Tele-operation System based on Body Image Embedding for Bio-manipulation under Microscope

Macro-micro Tele-operation System based on Body Image Embedd...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Hiromi Mochiyama Hisato Kobayashi Junya Tatsuno Hiroyuki Kawai Department of Intelligent Interaction Technologies University of Tsukuba Tsukuba Ibaraki Japan Faculty of Engineering and Design Hosei University Chiyoda Tokyo Japan Department of Mechanical Engineering Kinki University Higashihiroshima Hiroshima Japan Department of Robotics Kanazawa Institute of Technology Nonoichi Ishikawa Japan

In this paper, in order to provide with an inexpensive solution to efficient bio-manipulation under microscope, we propose a macro-micro tele-operation system based on body image embedding. It is known in neuroscience that we could feel our body image for the object which is not our own body in certain conditions. Our idea is to utilize the body image illusion for generating high immersive feelings in bio-manipulation under microscope, instead of aiming at the perfect transparency, the conventional target of tele-manipulation system, which is difficult to attain. Our proposed system has two additional components as well as the conventional system where micro manipulators hydraulically connected to joysticks or dials handled by an operator are used for fine bio-manipulation under a microscope. The one component is for the body position/orientation consistency between proprioception and vision. In this component, due to appropriate use of a camera for a microscope, a visual display, mirrors and tiny dummy hands, an operator can see the magnified visual image of the tiny dummy hands similar to his/her own hands in shape at the position and orientation where he/she feel them proprioceptively. The other component is for the contact consistency between touch and vision. In this component, the contact between a tool grasped by an operator's hands and a manipulated object observed by eyes should coincide to the contact felt by his/her hand skin. To do this, haptic stimulators such as piezo actuators are activated at the timing of contact which is detected, for example, by the vision processing from the microscopic images.

关键词： Microscopy Neuroscience Image generation Cameras Displays Mirrors Shape Eyes Skin Haptic interfaces

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Feasibility of integrating FES grasp assistance with a task-oriented robot-assisted therapy environment: A case study

Feasibility of integrating FES grasp assistance with a task-...

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

作者： Dominic E. Nathan Michelle J. Johnson John McGuire Zablocki VA Medical Center Rehabilitation Robotics and Research and Design Laboratory Milwaukee WI USA Department of Biomedical Engineering Marquette University Milwaukee WI USA Department of Physical Medicine and Rehabilitation Medical College Milwaukee WI USA

Reaching-to-grasp is a vital skill to be relearned following stroke. Robotic aided stroke rehabilitation reduces motor impairment but has is limited in improving ADL function. We present a case study examining the feasibility of a custom developed glove to provide grasp assistance in a robotic therapy environment dedicated to the practice of real activities, ADLER. The case study consists of three subjects, a high functioning, and a low functioning stroke subject and a healthy subject. Results suggest that the glove system was able to providing grasp-assistance and that it was capable of collecting grasp aperture information during reach to grasp activities.

关键词： Robots Medical treatment Rehabilitation robotics Apertures Feedback Biomedical engineering Biomechatronics USA Councils Haptic interfaces Head

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