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作者： Tar, József K. Rudas, Imre J. Bitó, János F. Pozna, Claudiu Inst. of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Bécsi út 96/B Budapest H-1034 Hungary Design and Robotics Department University Transilvania of Brasov Bd. Eroilor 29 Brasov Romania

ISBN: (纸本)9781457718069

As is well known various neuron models show interesting behavior as producing stable, non-sinusoidal limit cycles or even chaotic regimes of motion. Realization of precise tracking of a chaotic trajectory generated by a "master system" by a controlled, quite different "slave" system also having aptitude for chaotic motion is an interesting challenge. Lyapunov's 2nd or "Direct" Method is generally used in the literature for such purposes. It is well known that finding appropriate Lyapunov function is rather an "art" that needs special mathematical skills so it needs very talented designers. As an alternative of Lyapunov's Direct Method the use of "Robust Fixed Point Transformations (RFPT)" for the synchronization of the motion of different chaotic systems is studied in this paper via numerical simulations. It is shown that the RFPT-based method is very efficient. In the present paper the signal generated by a 1st order Chua-Matsumoto Circuit serves as a reference trajectory to be racked by a 2 nd order chaotic system, the Duffing Oscillator. The interesting finding is reported that while the "brute force" solution achieved by very big simple linear feedback coefficients fails after a short period the adaptive controller operating on the basis of very loose, purely kinematically designed feedback coefficient successfully stabilizes the synchronization. © 2011 Scientific Assoc Infocomm.

关键词： Chaotic systems

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Adaptive control design in chaos synchronization as alternative of Lyapunov's direct method

Adaptive control design in chaos synchronization as alternat...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： József K. Tar Imre J. Rudas János F. Bitó Claudiu Pozna Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Budapest Hungary Design and Robotics Department University Transilvania of Brasov Brasov Romania

As is well known various neuron models show interesting behavior as producing stable, non-sinusoidal limit cycles or even chaotic regimes of motion. Realization of precise tracking of a chaotic trajectory generated by a “master system” by a controlled, quite different “slave” system also having aptitude for chaotic motion is an interesting challenge. Lyapunov's 2 nd or “Direct” Method is generally used in the literature for such purposes. It is well known that finding appropriate Lyapunov function is rather an “art” that needs special mathematical skills so it needs very talented designers. As an alternative of Lyapunov's Direct Method the use of “Robust Fixed Point Transformations (RFPT)” for the synchronization of the motion of different chaotic systems is studied in this paper via numerical simulations. It is shown that the RFPT-based method is very efficient. In the present paper the signal generated by a 1 st order Chua-Matsumoto Circuit serves as a reference trajectory to be racked by a 2 nd order chaotic system, the Duffing Oscillator. The interesting finding is reported that while the “brute force” solution achieved by very big simple linear feedback coefficients fails after a short period the adaptive controller operating on the basis of very loose, purely kinematically designed feedback coefficient successfully stabilizes the synchronization.

关键词： Chaos Trajectory Oscillators Adaptive control Synchronization Robots Robustness

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High-speed delivery of microbeads in microchannel using magnetically driven microtool

High-speed delivery of microbeads in microchannel using magn...

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： L. Feng M. Hagiwara Huseyin Uvet Y. Yamanish T. Kawahara K. Kosuge F. Arai Department of Bioengineering and Robotics University of Tohoku Sendai Japan Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan JST-PRESTO Japan Seoul National University Seoul South Korea

This paper presents on-demand microbeads delivery system in a microfluidic chip by magnetically driven microtool (MMT). The four of horizontally arranged permanent magnets and the piezoelectric vibrator are used to actuate the Ni based microtool precisely in the chip. The MMT injects the beads mechanically to flow and then into ejection operation part. We succeeded in transferring microbeads one by one with the required pace to the next process in order to achieve stable dispensing microbeads out from the microfluidic chip to incubation environment. We succeeded in demonstration of the delivery and ejection of polystyrene beads (100 μm) with the flow velocity of from 0.02 ml/h to 0.04 ml/h and MMT frequency from 1 Hz to 6 Hz to adjust the pitch of each micro-bead. The spacing interval of microbeads could be mainly adjusted by changing of MMT frequency and the flow velocity of output stream. The proposed system shows advantages of high-speed, high success ratio and disposable of microfluidic chip having MMT.

关键词： Magnetosphere Biomedical monitoring Monitoring Gold Nickel Ceramics

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Levitation control of experimental wing-in-ground effect vehicle along Z axis and about roll and pitch axes

Levitation control of experimental wing-in-ground effect veh...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yusuke Sugahara Yusuke Ikeuchi Ryo Suzuki Yasuhisa Hirata Kazuhiro Kosuge Yukio Noguchi Satoshi Kikuchi Yasuaki P. Kohama Department of Bioengineering and Robotics University of Tohoku Sendai Japan Department of Industrial Management and Engineering Tokyo University of Science Japan Department of Mechanical and Systems Engineering Gifu University Japan New Industry Creation Hatchery Center University of Tohoku Japan

The goal of this study is to develop a control method for levitation stabilization of an aerodynamic levitated train named the "Aero-Train," which is a high-speed, high efficiency train system. The levitation in this system occurs because of the wing-in-ground effect that acts on a U-shaped guideway. In order to achieve the goal of this study, a small experimental prototype and a control method for stabilization along the Z axis and about the roll and pitch axes were developed, as described in this paper. The effectiveness of the developed control method is confirmed by experimental results.

关键词： Levitation Equations Vehicles Aerodynamics Hafnium Steady-state Control systems

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Microdroplet Patterning: Designer Hydrophilic Regions Regulate Droplet Shape for Controlled Surface Patterning and 3D Microgel Synthesis (Small 3/2012)

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Small 2012年第3期8卷

作者： Matthew J. Hancock Fumiki Yanagawa Yun-Ho Jang Jiankang He Nezamoddin N. Kachouie Hirokazu Kaji Ali Khademhosseini Center for Biomedical Engineering Department of Medicine Brigham and Women's Hospital Harvard Medical School 65 Landsdowne Street Cambridge MA 02139 USA State Key Laboratory of Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an Shaanxi 710049 China Department of Bioengineering and Robotics Graduate School of Engineering Tohoku University Sendai 980-8579 Japan Partners Research Building Room 252 65 Landsdowne Street Cambridge MA 02139 USA Wyss Institute for Biologically Inspired Engineering Harvard University Boston MA 02115 USA Harvard-MIT Division of Health Sciences and Technology Massachusetts Institute of Technology Cambridge MA 02139 USA

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WORKSHOP: The role of expectations in intuitive human-robot interaction

WORKSHOP: The role of expectations in intuitive human-robot ...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Verena Hafner Manja Lohse Joachim Meyer Yukie Nagai Britta Wrede Department of Computer Science Cognitive Robotics Berlin Germany CoR-Laboratory and Applied Informatics Technical Faculty Bielefeld University Germany Department of Industrial Engineering and Management University of Negev Israel Department of Adaptive Machine Systems Graduate School of Engineering Osaka University Japan Head of CoR-Laboratory research group Hybrid Society Technical Faculty Bielefeld University Germany

Human interaction is highly intuitive: we infer reactions of our opponents mainly from what we have learned in years of experience and often assume that other people have the same knowledge about certain situations, abilities, and expectations as we do. In human-robot interaction (HRI) we cannot take for granted that this is equally true since HRI is asymmetrical. In other words, robots have different abilities, knowledge, and expectations than humans. They need to react appropriately to human expectations and behaviour. With this respect, scientific advances have been made to date for applications in entertainment and service robotics that largely depend on intuitive interaction. However, HRI today is often still unnatural, slow, and unsatisfactory for the human interlocutor. Both the sensorimotor interaction with environment and interlocutor, and the social aspects of the interaction still need to be researched and improved. Therefore, this full-day workshop aims to bring together researchers from different scientific fields to discuss these crosscutting issues and to exchange views on what are the preconditions and principles of intuitive interaction.

关键词： Educational institutions Computer science Robot sensing systems Electronic mail Humans Industrial engineering

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A novel approach to the model reference adaptive control of MIMO systems

A novel approach to the model reference adaptive control of ...

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Tar, J.K. Rudas, I.J. Bitó, J.F. Kozlowski, K.R. Pozna, C. Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Ó Buda University Bécsi út 96/B H-1034 Budapest Hungary Department of Control and Systems Engineering Computing Science and Management Poznań University of Technology Piotrowo 3a 60-965 Poznań Poland Design and Robotics Department University Transilvania of Brasov Bd. Eroilor 29 Brasov Romania

ISBN: (纸本)9781424468867

The "Model Reference Adaptive Control (MRAC)" is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the "reference model" that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2nd ("direct") method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of "Robust Fixed Point Transformations (RFPT)" in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of "deformation" of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can "fob" the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a "cart-beam-hamper" system is considered. The conclusions of the paper are illustrated by simulation results. © 2010 IEEE.

关键词： Model reference adaptive control

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Adaptive predictive control of a class of discrete-time MIMO nonlinear systems with uncertain couplings

Adaptive predictive control of a class of discrete-time MIMO...

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作者： Yang, Chenguang Li, Yanan Ge, Shuzhi Sam Lee, Tong Heng Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424474264

In this paper, a novel adaptive predictive control is presented for a class of multi-input-multi-output (MIMO) nonlinear systems in block-triangular form with uncertain couplings of states/delayed states as well as inputs among subsystems. For each subsystem of the MIMO system, future states prediction is developed and using the predicted future states, adaptive predictive control is designed under certainty equivalence principal to compensate the parametric uncertainties in the couplings. To eliminate the functional uncertainties in the couplings, a novel compensation mechanism is developed for each subsystem. Under the proposed adaptive controls, all the signals in the closed-loop MIMO systems are guaranteed to be globally bounded. In addition, all the output tracking errors are guaranteed to converge to zeros. The effectiveness of the proposed control is demonstrated in the simulation. © 2010 AACC.

关键词： Couplings

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Learning compliance control of robot manipulators in contact with the unknown environment

Learning compliance control of robot manipulators in contact...

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2010 IEEE International Conference on Automation Science and engineering, CASE 2010

作者： Li, Yanan Yang, Chenguang Ge, Shuzhi Sam Social Robotics Lab. NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424454471

In this paper, a control mechanism is presented to improve the compliance performance of the robot manipulator when it is in contact with the unknown environment. This mechanism guarantees that the dynamics of the whole system follows a target impedance model so that the desired compliance performance is obtained. In particular, under the assumption that the dynamics is periodic, a learning law is developed to estimate the unknown dynamics parameters. Besides, the proposed systematic learning control does not require the accurate force measurement. Its performance and robustness are discussed in details by the rigorous analysis. At last, the validity of the proposed method is verified by simulation. © 2010 IEEE.

关键词： Modular robots

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A portable device to represent different views to both eyes

A portable device to represent different views to both eyes

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Fumio Mizuno Tomoaki Hayasaka Takami Yamaguchi Department of Electronics and Intelligent Systems Tohoku Institute of Technology Sendai Miyagi Japan Department of Bioengineering and Robotics Tohoku Institute of Technology Sendai Miyagi Japan Department of Biomedical Engineering Tohoku Institute of Technology Sendai Miyagi Japan

To investigate the flexible adaptation of human visual system, we developed a system to provide different view fields to both eyes of a user respectively. The system named “Virtual Chameleon” consists of two CCD cameras independently controlled and a head-mounted display was used by twelve healthy volunteers. Eleven of them became able to independently control visual axes and understood two different views. The successful users of the system were able to actively control visual axes by manipulating 3D sensors held by their both hands, to watch independent view fields presented to the left and right eyes, and to look around as chameleons do. The results raise interesting question on adaption to provided two independent view fields.

关键词： Cameras Sensor systems Visualization Humans Three dimensional displays Magnetic sensors

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