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123rd ASEE Annual Conference and Exposition

作者： Middleton, James A. Krause, Stephen J. Judson, Eugene Culbertson, Robert J. Ross, Lydia Hjelmstad, Keith D. Park, Yong-Seok Collofello, James Smith, Bethany B. Department of Mechanical and Aerospace Engineering United States Center for Research on Education in Science Mathematics Engineering and Technology Arizona State University United States Materials Science Program Fulton School of Engineering Arizona State University United States Arizona State University Mary Lou Fulton Teachers College United States Department of Physics United States Arizona State University Department of Civil Engineering School of Sustainable Engineering and the Built Environment United States Arizona State University Department of Computer Science and Engineering School of Computing Informatics and Decision Systems Engineering Ira A. Fulton Schools of Engineering United States

This research paper examined the connectedness of STEM faculty to others both within and across academic departments who might be potential resources for diffusion of Learner-centered practices, and the impact of participants' social networks on their Learner-centered beliefs and practices. The research question under investigation was: To what extent is the degree of social connectedness among faculty within and among STEM departments related to the degree of implementation of Learner-centered practices? Participants were recruited from Physics, Chemistry, Mathematics departments, and from departments in the College of engineering. The sample began with 21 randomly-selected faculty from each department engaged in the STEM instruction of first and second year engineering students. The second level consisted of the colleagues identified by the first level as people they utilize as resources for improving their instruction. The connectedness of faculty in the network was examined using network analysis, focusing on both number of connections, and depth of connections. Attitude and Observation Protocol measures were used as outcomes. Results show that faculty classified as Learner-Centered had deeper and more extensive social networks. Results are discussed in terms of the need for intra- and inter-departmental faculty professional development experiences that both introduce and encourage faculty to trial new tools and techniques, but that also run for the longterm, supporting collaborative organizations of faculty working together to transform early engineering experiences. © American Society for engineering Education, 2016.

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Design of Robotic Surgical Instrument for Minimally Invasive Surgical Robot System

Design of Robotic Surgical Instrument for Minimally Invasive...

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International Conference on Control, Automation and Systems

作者： Chul Sung Kim Chang-Woo Park Bong-Seok Kim Jae-Bok Song Jung-Hoon Hwang Department of Mechanical Engineering Korea University Intelligent Robotics Research Center Korea Electronics Technology Institute

ISBN: (纸本)9781467322478

Laparoscopic surgery and the market for its robotic devices keep growing since postoperative complications are fewer and patients recover quicker than conventional laparotomy wounds, even though robotic surgery is 5-6 times more expensive than traditional laparotomy. We are developing surgical robot system with minimally invasive robotic surgical tools. And to use those tools in surgery, the mechanism of system needs to be simple and durable to reduce the cost of robotic surgery. In this paper, we present some mechanisms for minimally invasive surgical robot tools that have simple structure, easy to manufacture and control.

关键词： robotics surgery Minimally invasive surgery Surgical robot tool Surgical instrument

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Optimal location of an active segment of magnetorheological fluid layer in a sandwich plate

Optimal location of an active segment of magnetorheological ...

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International Carpathian Control Conference (ICCC)

作者： Jacek Snamina Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

In the present study a sandwich plate, of rectangular form, with magnetorheological (MR) fluid core is investigated. The plate consists of two outer layers made of aluminium and an MR fluid layer in between. The plate edges are clamped. It was assumed that the aluminium layers are pure elastic. The energy is dissipated in MR fluid layer. Additional assumptions concerning displacements, deformations and stresses are introduced in calculations. The active segment of MR fluid layer is placed in various parts of plate. The optimal positions of active segment for selected modes of vibration are determined.

关键词： Fluids Strain Aluminum Vibrations Damping Stress Magnetic liquids

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Hybrid Adaptive Control of an Unbalanced Tilting-rotors Quadcopter Transporting a Payload via an Elastic Cable

Hybrid Adaptive Control of an Unbalanced Tilting-rotors Quad...

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IEEE International Conference on Mechatronics System and Robots (ICMSR)

作者： Mohamed Tolba Bijan Shirinzadeh Mechanical and Aerospace Engineering Department Robotics and Mechatronics Research Laboratory (RMRL) Monash University Melbourne Australia

Aerial load transportation using quadcopters is a topic of great interest to the robotics community due to its many potential civilian and military applications. This paper presents a nonlinear nine-degree-of-freedom mathematical model for an unbalanced tilting-rotors quadcopter with a suspended load via an elastic cable, where the quadcopter’s center of gravity and sling-load suspension point are assumed arbitrarily shifted from the quadcopter’s geometric center. The transportation mission is decomposed into six discrete stages, namely Payload Setup, Carrier Alignment, Payload Pick-up, Payload Conveyance, Payload Delivery, and Carrier Landing. Subsequently, a hybrid control technique is proposed, and applied through nonlinear simulations to a case study. The simulation results showed the effectiveness of the proposed controller in achieving satisfactory performance, with acceptable control effort, for the carrier-payload system through a full transportation mission.

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On-line terrain parameter estimation for planetary rovers

On-line terrain parameter estimation for planetary rovers

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Iagnemma H. Shibly S. Dubowsky Field and Space Robotics Laboratory Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

Future planetary exploration missions will require rovers to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper an on-line estimation method that identifies key terrain parameters using on-board rover sensors is presented. These parameters can be used for accurate traversability prediction or in a traction control algorithm. These parameters are also valuable indicators of planetary surface soil composition. Simulation and experimental results show that the terrain estimation algorithm can accurately and efficiently identify key terrain parameters for loose sand.

关键词： Parameter estimation Vehicles Soil Wheels Friction Equations Space technology mechanical engineering Mobile robots Orbital robotics

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Collision avoidance maneuver for an autonomous vehicle

Collision avoidance maneuver for an autonomous vehicle

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International Workshop on Advanced Motion Control (AMC)

作者： M. Durali G.A. Javid A. Kasaiezadeh Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology Tehran Iran

One of the most important capabilities expected from an autonomous vehicle is avoiding collision with obstacles in its path. For this purpose, autonomous vehicle must be able to perform an emergency maneuver as soon as the obstacle is detected. This paper presents a method for designing and performing an emergency maneuver in order to avoid collision with a fixed or moving obstacle in the path. A sinusoidal or exponential trajectory, which is a function of the relative distance between vehicle and obstacle, is designed as the desired trajectory for lateral motion of the vehicle. A sliding mode controller is designed in order to guarantee that the vehicle tracks that desired trajectory. The method does not have computational difficulties and is appropriate for real time implementations. A virtual test environment for evaluating the performance of the system has been prepared using Matlab/Simulink and ADAMS/Car software. A full vehicle model, validated by experimental tests, is used as the autonomous vehicle model in ADAMS/Car

关键词： Collision avoidance Remotely operated vehicles Mobile robots Mathematical model Vehicle detection Design methodology Sliding mode control Trajectory Software testing System testing

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A Reinforcement Learning Based Controller to Minimize Forces on the Crutches of a Lower-Limb Exoskeleton

arXiv

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arXiv 2024年

作者： Utku, Aydin Emre Ada, Suzan Ece Hatipoglu, Muhammet Derman, Mustafa Ugur, Emre Samur, Evren The Haptics & Robotics Lab Department of Mechanical Engineering Bogazici University Istanbul Turkey CoLoRs Lab Department of Computer Engineering Bogazici University Istanbul Turkey

Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper body effort of the users is largely ignored in the literature when designing motion controllers. In this work, we use deep reinforcement learning to develop a locomotion controller that minimizes ground reaction forces (GRF) on crutches. The rationale for minimizing GRF is to reduce the upper body effort of the user. Accordingly, we design a model and a learning framework for a human-exoskeleton system with crutches. We formulate a reward function to encourage the forward displacement of a human-exoskeleton system while satisfying the predetermined constraints of a physical robot. We evaluate our new framework using Proximal Policy Optimization, a state-of-the-art deep reinforcement learning (RL) method, on the MuJoCo physics simulator with different hyperparameters and network architectures over multiple trials. We empirically show that our learning model can generate joint torques based on the joint angle, velocities, and the GRF on the feet and crutch tips. The resulting exoskeleton model can directly generate joint torques from states in line with the RL framework. Finally, we empirically show that policy trained using our method can generate a gait with a 35% reduction in GRF with respect to the baseline. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Design and Control of an Autonomous Robot for Mobility-Impaired Patients

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IFAC-PapersOnLine 2021年第20期54卷 238-243页

作者： Aarya Deb Zachery Wypych Jess Lonner Hashem Ashrafiuon Mechanical Engineering Department Villanova University Villanova PA 19085 USA USA Ambulatus Robotics Inc. Wynnewood PA 19096 USA

A novel autonomous mobile robotic arm is designed and developed that can autonomously follow mobility impaired patients and prevent backwards and sideways falls. The robot is designed with differentially driven wheels and an arm with an end-effector to stop falls but otherwise will not contact the subject. A closed control algorithm is initially developed and simulated to ensure the robot will be able to follow any feasible trajectory. The control algorithm is then simplified, implemented, and tested on the robot using only a Lidar device for distance and orientation measurements and feedback. The mobile base in combination with a servomotor and simple switches, operating the end-effector, are shown to successfully prevent backward and sideway falls in preliminary tests.

关键词： Mobile robotic arm mobility aid robots Lidar guided autonomy

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Addressing knowledge management transfer in project management at digital manufacturing

Addressing knowledge management transfer in project manageme...

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2018 Institute of Industrial and Systems Engineers Annual Conference and Expo, IISE 2018

作者： Muncinelli, Gianfranco De Lima, Edson Pinheiro Deschamps, Fernando Gouvea Da Costa, Sergio E. Beller, Cassiano S. Industrial and Systems Engineering Graduate Program Pontifical Catholic University of Parana Curitiba Brazil Federal University of Technology - Parana Curitiba Brazil Department of Mechanical Engineering Federal University of Parana Curitiba Brazil Superior Institute of Administration and Economy of Mercosul Curitiba Brazil

Manufacturing has been changing drastically the way it approaches facility design and implementation, that is, there is a growing adoption of digital techniques. This paper intends to determine the theoretical concepts and guidelines for assisting the study of alternatives for problem-solving in a specific case of an automaker digital manufacturing project. The main objective of the research is to determine the theoretical components that will assist in the forwarding of solutions to the problems observed in the current model of project management of digital manufacturing projects. The conceptual guidelines proposed based on systematic literature and guided the construction of research protocol that collects data from technical visits (semi-participative observation), technical documents and procedures, information systems log and archives, and semi-structured interviews. Data analysis use the mechanism of triangulation and workshops for producing a conceptual analysis about how each factor can assist in addressing the solving of the issues observed, building the theoretical constructs. The manufacturing engineering team could identify strengths and weakness on the ongoing practices and better plan improvements for reaching opportunities and mitigating threats/risks. The findings are classified in the following aspects: cultural, technology, knowledge content, organization, processes, and project management;and showed a complete analysis on how ready is the organization for developing digital manufacturing projects. © 2018 Institute of Industrial Engineers (IIE). All rights reserved.

关键词： Knowledge management

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THE SURREY ATTENTIVE ROBOT VISION SYSTEM

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International Journal of Pattern Recognition and Artificial Intelligence 1993年第1期7卷 89-107页

作者： J.R.G. PRETLOVE G.A. PARKER Mechatronics and Robotics Research Group Department of Mechanical Engineering University of Surrey Guildford Surrey GU2 5XH England

This paper presents the design and development of a real-time eye-in-hand stereo-vision system to aid robot guidance in a manufacturing environment. The stereo vision head comprises a novel camera arrangement with servo-vergence, focus, and aperture that continuously provides high-quality images to a dedicated image processing system and parallel processing array. The stereo head has four degrees of freedom but it relies on the robot end-effector for all remaining movement. This provides the robot with exploratory sensing abilities allowing it to undertake a wider variety of less constrained tasks. Unlike other stereo vision research heads, the overriding factor in the Surrey head has been a truly integrated engineering approach in an attempt to solve an extremely complex problem. The head is low cost, low weight, employs state-of-the-art motor technology, is highly controllable and occupies a small-sized envelope. Its intended applications include high-accuracy metrology, 3-D path following, object recognition and tracking, parts manipulation and component inspection for the manufacturing industry.

关键词： Stereo vision active vision robotics machine vision mechatronics adaptive robot control

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