检索结果-内蒙古大学图书馆

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

作者： Hwee Choo Liaw Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical and AeroSpace Engineering Monash University Clayton VIC Australia

This paper presents an enhanced sliding-mode constrained motion tracking control methodology for piezo-actuated flexure-based micro/nano manipulation mechanisms. This control methodology is formulated to accommodate not only the parametric uncertainties and unknown force conversion function, but also the non-linearities including the hysteresis effect and external disturbances in the manipulation mechanisms. The control objective is to track desired motion trajectories in a constrained environment. In this paper, the equations for the dynamic modelling of a flexure-hinged four-bar micro/nano manipulation mechanism operating in a constrained environment are established for the formulation of the control methodology. Stability of the proposed closed-loop system is analysed, and the convergence of the motion tracking errors is proven theoretically. Furthermore, precise motion tracking ability in following a desired motion trajectory is demonstrated in the experimental study.

关键词： Tracking Motion control Sliding mode control Trajectory Force control Uncertainty Hysteresis Nonlinear equations Manipulator dynamics Nonlinear dynamical systems

来源：评论

学校读者我要写书评

暂无评论

OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel

OmBURo: A Novel Unicycle Robot with Active Omnidirectional W...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Junjie Shen Dennis Hong Robotics and Mechanisms Laboratory the Department of Mechanical and Aerospace Engineering University of California Los Angeles CA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility mechanisms that satisfy all these conditions well. Here we introduce Omnidirectional Balancing Unicycle Robot (OmBURo), a novel unicycle robot with active omnidirectional wheel. The effect is that the unicycle robot can drive in both longitudinal and lateral directions simultaneously. Thus, it can dynamically balance itself based on the principle of dual-axis wheeled inverted pendulum. This paper discloses the early development of this novel unicycle robot involving the overall design, modeling, and control, as well as presents some preliminary results including station keeping and path following. With its very compact structure and agile mobility, it might be the ideal locomotion mechanism for robots to be used in human environments in the future.

关键词： Wheels Mobile robots Gears Friction Mathematical model Energy loss

来源：评论

学校读者我要写书评

暂无评论

A neural network based fault detection and identification scheme for pneumatic process control valves

A neural network based fault detection and identification sc...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： M. Karpenko N. Sepehri Experimental Robotics and Teleoperation Laboratory Department of Mechanical and Industrial Engineering University of Manitoba Winnipeg MAN Canada

This paper outlines a method for detection and identification of actuator faults in a pneumatic process control valve using a neural network. First, the valve signature and dynamic error band tests, used by specialists to determine valve performance parameters, are carried out for a number of faulty operating conditions. A commercially available software package is used to carry out the diagnostic tests, thus eliminating the need for additional instrumentation of the valve. Next, the experimentally determined valve performance parameters are used to train a multilayer feedforward network to successfully detect and identify incorrect supply pressure, actuator vent blockage, and diaphragm leakage faults.

关键词： Neural networks Fault detection Fault diagnosis Valves Pneumatic actuators Process control Software packages Software testing Instruments Nonhomogeneous media

来源：评论

学校读者我要写书评

暂无评论

A Tactile Sensing and Feedback System for Tumor Localization

A Tactile Sensing and Feedback System for Tumor Localization

引用

2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Min Li Shan Luo Guanghua Xu Department of Mechanical Engineering Xi'an Jiaotong University Center for Robotics Research King's College London

Haptic information such as pressure(tactile) distribution could improve the clinical outcomes significantly by helping to detect tumors within soft-tissue organs and indicating potential abnormalities. In open surgeries, fingers are used to obtain this information. However, current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue palpation. This paper describes a tactile sensing and feedback system, consisting of a colored tactile information display and pneumatic multi-fingered haptic feedback. This tissue stiffness feedback system is validated by palpating two phantom organs to locate tissue tumors. The results proved that the stiffness distribution is acquirable, visible, and palpable using our method.

关键词： haptic feedback robot-assisted minimally invasive surgery palpation tumor identification

来源：评论

学校读者我要写书评

暂无评论

Impact of biomass in Egypt on climate change

引用

Natural Science 2013年第6期5卷 678-684页

作者： Dalia Adel Nakhla Mohamed Galal Hassan Salah El Haggar Department of Mechanical Engineering School of Sciences and Engineering The American University in Cairo Cairo Egypt Department of Petroleum Engineering School of Sciences and Engineering The American University in Cairo Cairo Egypt Environmental Engineering PhD Program School of Sciences and Engineering The American University in Cairo Cairo Egypt

Egypt is one of the most vulnerable countries to climate change due to the expected detrimental impacts on coastal zones, agriculture, water security as well as indirect social and health impacts. Egypt is responsible for 0.57% of the global greenhouse gas (GHG) emissions. Although Egypt is a non-annex I country not requiring any specific emission reduction or limitation targets under the Kyoto protocol, its National plans have included mitigation measures to reduce its greenhouse gases. The main sectors contributing to climate change in Egypt are energy, industry, agriculture and waste. Waste, on the other hand, has been accumulating in the streets of Egypt and along its water banks causing considerable air, soil and water pollution and indirect detrimental health impacts. However, this waste which is composed of organic municipal waste, agricultural residues, agro-industrial waste, animal manure and sewage sludge are valuable biomass resources. Utilizing the waste resources of Egypt especially the biomass or the organic component of this waste will not only solve some of the pressing economic needs of Egypt such as animal fodder, fertilizer and fuel but will also alleviate environmental burdens through decreasing air pollution and greenhouse gas emissions in the sector of waste as well as those of energy, industry and agriculture. This paper quantifies the biomass resources in Egypt generated from different waste resources. Then it demonstrates the efforts that Egypt made to contribute to global greenhouse gas emissions reductions through the Kyoto Protocol’s clean development mechanism (CDM). The projects in the waste sector already established in Egypt and approved as CDM projects are listed, which are related to waste management facilities and those which are waste to energy projects. Finally, a list of mitigation projects as proposed by the Egyptian government to decrease GHGs as related to the waste sector are enumerated.

关键词： Waste Climate Change Biomass Egypt

来源：评论

学校读者我要写书评

暂无评论

Dynamic control of a manipulator with passive joints-position control experiments by a prototype manipulator

Dynamic control of a manipulator with passive joints-positio...

引用

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

作者： H. Arai S. Tachi Robotics Department Mechanical Engineering Laboratory M.I.T.I. Tsukuba Ibaraki Japan

The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In the paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two degree of freedom horizontally articulated manipulator. The first axis is an active joint and the second axis is a passive joint. While the brake of the passive joint is released, the passive joint is indirectly controlled by the motion of the active joint, through the use of dynamic coupling. While the brake is engaged, the active joint is controlled. By combining these two control modes, total position of the manipulator is controlled. The experiments show that the precise positioning of the passive joint is feasible by use of the proposed method.< >

关键词： Manipulator dynamics Prototypes Actuators DC motors Control systems Pulse width modulation Optical amplifiers Friction Mathematical model Position control

来源：评论

学校读者我要写书评

暂无评论

Suppression of thermal transport in bent boron arsenide nanoribbons

引用

Physical Review Applied 2024年第5期22卷 054019页

作者： Guanbo Jiao Shuo Qiao Jun Lyu Yi Tao Lin Yang Department of Advanced Manufacturing and Robotics College of Engineering School of Mechanical Engineering and Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments National Key Laboratory of Advanced Micro and Nano Manufacture Technology

Boron arsenide (BAs) has emerged as a strong contender for next-generation functional materials, boasting desirable attributes such as high thermal conductivity and ambipolar mobility. However, a critical yet underexplored challenge lies in understanding its heat conduction capabilities under inhomogeneous strain, which is pivotal across various functional devices and operational conditions. Here, through modeling thermal transport in bent BAs and Si nanoribbons, a striking difference is revealed. Namely, the BAs nanoribbons exhibit nearly twice the reduction in thermal conductivity compared with Si under identical bending conditions. This significant disparity is driven by two key factors: the pronounced effect of phonon-spectra broadening under strain and the inhomogeneous strain-induced narrowing of the acoustic and optical (ao) gap. Together, these factors relax the originally restricted phonon scattering phase space and fundamentally alter phonon scattering dynamics. Our findings not only offer a new perspective on how heat transfer can be dynamically modulated in BAs, but also provide crucial insights into enhancing thermal performance in BAs-based functional devices.

关键词： Anharmonic lattice dynamics Bending Heat transfer Phonons Strain Thermal conductivity Nanoribbon Molecular dynamics

来源：评论

学校读者我要写书评

暂无评论

Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots

Design of a Jumping Control Framework with Heuristic Landing...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jingwen Zhang Junjie Shen Yeting Liu Dennis Hong The Department of Mechanical and Aerospace Engineering Robotics and Mechanisms Laboratory University of California Los Angeles CA USA

Generating dynamic jumping motions on legged robots remains a challenging control problem as the full flight phase and large landing impact are expected. Compared to quadrupedal robots or other multi-legged robots, bipedal robots place higher requirements for the control strategy given a much smaller support polygon. To solve this problem, a novel heuristic landing planner is proposed in this paper. With the momentum feedback during the flight phase, landing locations can be updated to minimize the influence of uncertainties from tracking errors or external disturbances when landing. To the best of our knowledge, this is the first approach to take advantage of the flight phase to reduce the impact of the jump landing which is implemented in the actual robot. By integrating it with a modified kino-dynamics motion planner with centroidal momentum and a low-level controller which explores the whole-body dynamics to hierarchically handle multiple tasks, a complete and versatile jumping control framework is designed in this paper. Extensive results of simulation and hardware jumping experiments on a miniature bipedal robot with proprioceptive actuation are provided to demonstrate that the proposed framework is able to achieve human-like efficient and robust jumping tasks, including directional jump, twisting jump, step jump, and somersaults.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Dynamic Locomotion and Mechanism of Biped Walking Robot

Dynamic Locomotion and Mechanism of Biped Walking Robot

引用

SICE Annual Conference

作者： Hun-ok Lim Yu Ogura Atsuo Takanishi Department of Mechanical Engineering Kanagawa University Yokohama Japan Humanoid Robotics Institute Waseda University Japan

The walking biped robot (WABIAN-2LL) can imitate human motions such as knee-stretching locomotions and deep bending motions because it is designed with large movable ranges as a human. It has two seven degrees of freedom, (DOF) legs and a two DOF waist. Each leg consists of a three DOF ankle, a one DOF knee and a three DOF hip to deal with human walking motion. Its height is about 1.2[m], and its weight is 40[kg]. Also, how to make a knee-stretched walk pattern is proposed. During the walking, moments generated by the motion of the legs should be cancelled. So, a compensatory motion control algorithm, is used which is based on the waist motion. Through dynamic walking experiments, the effectiveness of the biped robot is confirmed

关键词： Legged locomotion Leg Humans Motion control Humanoid robots mechanical engineering Neck Intelligent robots Knee Hip

来源：评论

学校读者我要写书评

暂无评论

Target Tracking Control of Space-Manipulators on Lie Groups

Target Tracking Control of Space-Manipulators on Lie Groups

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Borna Monazzah Moghaddam Robin Chhabra Mechanical and Aerospace Engineering Department Autonomous Space Robotics and Mechatronics Laboratory Carleton University Ottawa ON Canada

We present a full-pose end-effector control approach on Lie groups for free-floating space manipulators with non-zero momentum while tracking a moving target during proximity operations. We model space-manipulators as open-chain multi-body systems with 1-degree-of-freedom joints where the configuration space of the spacecraft is isomorphic to the Special Euclidean group SE(3). We formulate the dynamics of the spacecraft-manipulator via the Lagrange-Poincare equations and the dynamics of its target via Euler-Poincare equations to avoid kinematic singularities associated with parametrization of their poses. This model reduces the phase space of the space-manipulator by exploiting its inherent independence of the spacecraft's pose. We consider the full pose of the end-effector relative to the target as the system output, which transforms the output-tracking control problem into an output-regulation problem. To avoid parametrization singularities of this output, we perform feedback linearization on the matrix Lie group SE (3) in the reduced phase space of the space-manipulator. We then propose a feedback/feedforward proportional-integral-derivative workspace controller, based on coordinate-free pose and velocity error functions defined on the matrix Lie group associated with the target's relative pose. We provide analytical proof of the almost-global stability of the presented controller when regulating the end-effector's pose relative to the target towards identity.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：