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

作者： Rohit Ruparel Michelle J. Johnson Rehabilitation Robotics and Research and Design Laboratory Milwaukee WI USA Department of Biomedical Engineering Marquette University Milwaukee WI USA Design Lab Clement J. Zablocki Veterans Affairs Medical Center Milwaukee WI USA Department of Physical Medicine and Rehabilitation Medical College Milwaukee WI USA

When real objects are used in therapy their presence affects movement kinematics and hence the trajectories themselves. We examine the effectiveness of a trajectory planning algorithm to model the natural curving wrist movements observed in real life functional tasks. The fifth order minimum jerk model that incorporates curvature is used as a starting point for the model. The model was further developed and modified using observed data from able-bodied individuals. The model will be implemented as a trajectory planning tool for the ADLER environment where it could be used to train stroke survivors during functional tasks. We assessed differences between predicted and actual movements for medium to high functional stroke survivors on a drink task for several variables such as peak velocity, total displacement, movement smoothness, etc. We found that the model was capable of predicting movements smoothness and total displacement but not peak velocities in the horizontal or vertical planes of movement. Our next steps would be to improve and implement the model in the ADLER environment for stroke rehabilitation.

关键词： Medical treatment Rehabilitation robotics Trajectory Kinematics Wrist Extremities Educational institutions Biomedical engineering Robots Biomechatronics

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, Control, and Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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New Jacobian matrix and equations of motion for a 6 d.o.f cable-driven robot

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International Journal of Advanced Robotic Systems 2007年第1期4卷 63-68页

作者： Afshari, Ali Meghdari, Ali Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In this paper, we introduce a new method and new motion variables to study kinematics and dynamics of a 6 d.o.f cable-driven robot. Using these new variables and Lagrange equations, we achieve new equations of motion which are different in appearance and several aspects from conventional equations usually used to study 6 d.o.f cable robots. Then, we introduce a new Jacobian matrix which expresses kinematical relations of the robot via a new approach and is basically different from the conventional Jacobian matrix. One of the important characteristics of the new method is computational efficiency in comparison with the conventional method. It is demonstrated that using the new method instead of the conventional one, significantly reduces the computation time required to determine workspace of the robot as well as the time required to solve the equations of motion.

关键词： Mobile robots

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Review:Recent advances in nonlinear control technologies for shape memory alloy actuators

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2007年第5期8卷 818-829页

作者： SREEKUMAR M. SINGAPERUMAL M. NAGARAJAN T. ZOPPI M. MOLFINO R. Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology MadrasChennai 600 036India Laboratory of Design and Measurement for Automation and Robotics Department of Mechanics and Machines Design University of GenovaVia all'Opera Pia 15 a-16145 GenovaItaly

This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.

关键词： Shape memory alloy （SMA） actuators Nonlinear control Micro robots Hysteresis Position control Robotic manipulators

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Flexible wheeurail contact model for railway vehicle dynamics without pre-calculation

Flexible wheeurail contact model for railway vehicle dynamic...

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2007 ASME Rail Transportation Division Fall Conference

作者： Durali, Mohammad Salehi, S. Hassan Jalili, Mohammad Mehdi Center of Excellence for Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology PO Box 11365-9567 Tehran Iran

ISBN: (纸本)9780791848005

An advanced method using progressive concept of geometrical correspondence is applied to create a new wheel/rail contact model based on virtual penetration theory. The geometry and contact mechanism are solved simultaneously because of the independency in a defined correspondence. The model takes the penetrated profiles of wheel and rail and also associated creeps as inputs, and produces driving contact forces as output. The advantage of this model is that it doesn't require pretabulation of rigid contact situation. The method allows calculating flexible, non-elliptical, multiple contact patches during integration of the model. Consequently the rails with substructures can vibrate separately from the vehicle in a flexible wheel/rail contact model. The simulation results indicate that this method can be used in various rail vehicle dynamic problems. Copyright © 2007 by ASME.

关键词： Rails

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Erratum to “A Modeling Framework for Product Development Process Considering its Characteristics”

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IEEE Transactions on engineering Management 2008年第3期55卷 524-524页

作者： Hong-Bae Jun Hyo-Won Suh Institute of Production and Robotics STI IPR LICP Swiss Federal Institute of Technology in Lausanne EPFL Laboratory of Computer Aided Design CAD and Production Lausanne Switzerland Industrial Engineering Department Korea Advanced Institute of Science and Technology Daejeon South Korea

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Finite Element Model of SWCNT Under Hydrostatic Pressure

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AIP Conference Proceedings 2007年第1期929卷 82-88页

作者： A. Sakhaee‐Pour M. T. Ahmadian Center of Excellence in Design Robotics and Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology Tehran Iran

A finite element technique is used to mimic radial deformation of single‐walled carbon nanotubes under hydrostatic pressure. The elastic deformation of nanotubes is modeled via elastic beams. Properties of the beam element are evaluated by considering characteristics of the covalent bonds between the carbon atoms in a hexagonal lattice. Applying the beam model in a three dimensional space, the elastic properties of the nanotube in the transverse direction are evaluated. The effects of diameter and wall thickness on the radial and circumferential elastic moduli of zigzag and armchair nanotubes are considered. Results are in good agreement with molecular structural mechanics data in the literature.

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A rigid body spring model to investigate the lateral shift -Restraining force behavior of the patella

A rigid body spring model to investigate the lateral shift -...

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29th Annual International Conference of IEEE-EMBS, engineering in Medicine and Biology Society, EMBC'07

作者： Jafari, Ali Farahmand, Farzam Meghdari, Ali Mechanical Engineering Department Sharif University of Technology Tehran Iran Biomechanics Section Sharif University of Technology Tehran Iran Centre of Excellence of Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)1424407885

Patellar lateral stability was studied using a 2D transverse plane model with deformable articular surfaces. Quadriceps muscles and patellar tendon were considered as strings with predefined forces and lateral and medial retinaculum as tensile springs. Deformation behavior of articular cartilage was modeled by a set of compression springs perpendicular to articular surfaces, based on rigid body spring model method (RBSM). Patellar lateral stability was investigated using restraining force method (the external force required to cause up to 10 mm lateral displacement on patella). The results were in good agreement with experimental reports for normal joint, vastus lateralis and vastus medialis relieved. Small changes in the femoral trochlear groove geometry provided significant variation in patellar stability. Simulation of different surgical treatments showed that the tibial tubercle medialization is the most effective procedure for patellar subluxation and dislocation disorders. © 2007 IEEE.

关键词： Bone

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Chaos control of a sprott circuit using delayed feedback control: Experimental study

Chaos control of a sprott circuit using delayed feedback con...

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

作者： Kaveh Merat Hoda Sadeghian Hassan Salarieh Aria Alasty Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In this paper a linear delayed feedback control is proposed and experimentally applied to eliminate chaos in a nonlinear electrical circuit which is known as Sprott circuit. The chaotic behavior of the system is suppressed by stabilizing one of its first order unstable periodic orbits (UPOs) by a controller designed based on so-called Pyragas method. The effectiveness of this method, firstly, is numerically investigated by stabilizing the unstable first order periodic orbit and then verified experimentally by a laboratory setup.

关键词： Chaos Feedback circuits Delay Feedback control Chaotic communication Control systems Communication system control Orbits Biological control systems Differential equations

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A Rigid Body Spring Model to Investigate the Lateral Shift - Restraining Force Behavior of the Patella

A Rigid Body Spring Model to Investigate the Lateral Shift -...

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29th Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBS 2007), vol.12

作者： Ali Jafari Farzam Farahmand Ali Meghdari Mechanical Engineering Department Sharif University of Technology Tehran Iran Biomechanics Section Sharif University of Technology Tehran Iran Centre of Excellence of Design Robotics and Automation Sharif University of Technology Tehran Iran

Patellar lateral stability was studied using a 2D transverse plane model with deformable articular surfaces. Quadriceps muscles and patellar tendon were considered as strings with predefined forces and lateral and medial retinaculum as tensile springs. Deformation behavior of articular cartilage was modeled by a set of compression springs perpendicular to articular surfaces, based on rigid body spring model method (RBSM). Patellar lateral stability was investigated using restraining force method (the external force required to cause up to 10mm lateral displacement on patella). The results were in good agreement with experimental reports for normal joint, vastus lateralis and vastus medialis relieved. Small changes in the femoral trochlear groove geometry provided significant variation in patellar stability. Simulation of different surgical treatments showed that the tibial tubercle medialization is the most effective procedure for patellar subluxation and dislocation disorders.

关键词： Springs Stability Joints Muscles Bones Knee Mathematical model Deformable models Force measurement Tendons

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