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IEEE-RAS International Conference on Humanoid Robots

作者： Takashi Matsuzawa Ayanori Koizumi Kenji Hashimoto Xiao Sun Shinya Hamamoto Tomotaka Teramachi Shunsuke Kimura Nobuaki Sakai Atsuo Takanishi Faculty of Science and Engineering Waseda University Waseda Institute for Advanced Study and Humanoid Robotics Institute Waseda University Department of Modern Mechanical Engineering and Humanoid Robotics Institute Waseda University

ISBN: (纸本)9781509047192

Crawling motion by a robot is effective for reducing shock in the case of a fall. It thus decreases the possibility of a locomotion malfunction on uneven terrain. In this paper, the control of crawling motion on uneven terrain is described. Firstly, crawling motion and detailed motion are explained. Then, a method for controlling crawling motion is outlined for its realization. To verify the effectiveness of the proposed method for locomotion on uneven terrain, rough rubble ground was generated in a dynamics simulator and the crawling method was applied to our developed four-limbed robot. Additionally, a crawler robot was generated. A comparison was conducted to verify the difference in locomotion capabilities between the proposed method and other locomotion styles. The simulation results confirmed that the proposed method enabled successful locomotion of our four-limbed robot on uneven terrain.

关键词： creeping Locomotion Robot terrains landscapes simulating Simulation results

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Mechanics, process, and design simulation of fiber-reinforced composite materials - A new course development

Mechanics, process, and design simulation of fiber-reinforce...

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114th Annual ASEE Conference and Exposition, 2007

作者： Dong, Yaomin El-Sayed, Jacqueline Kettering University United States Department of Mechanical Engineering Kettering University United States Center for Excellence of Teaching and Learning Plastics Product Design Specialty Mechanical Engineering Program Driver's Education Advisory Committee Motorcycle Safety Advisory Committee Michigan's Secretary of State Terri Lynn Land United States

Composite materials are widely used due to their advantages in high strength to weight ratios, high corrosion resistance, high fatigue life in cyclic loading, and great potential in styling design. This paper presents a new composite course development focusing on the properties, mechanics, manufacturing aspects, and design simulation of fiber-reinforced composite materials. Together with Properties of Polymers (MECH-580), Polymer Processing (IME-507), and Plastics Product Design (MECH-584), this new course will be an integral part of the course portfolio for the Plastic Product Design Specialty at Kettering University, which emphasizes both experimental labs and simulation techniques. Topics include Classical Laminate Theory (CLT), material characterization, failure and damage, manufacturing techniques, and composite structure and design. A course project is also developed to demonstrate the application of composite materials and design simulation. Kettering is a member of the Partners for the Advancement of CAE Education (PACE) program, and the term project will be performed using advanced workstations and CAE software suite. © American Society for engineering Education, 2007.

关键词： Fiber reinforced materials

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Autonomous underground navigation of an LHD using a combined ICP-EKF approach

Autonomous underground navigation of an LHD using a combined...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Madhavan M.W.M.G. Dissanayake H.F. Durrant-Whyte Australian Centre for Field Robotics ACFR Department of Mechanical and Mechatronic Engineering University of Sydney NSW Australia

A new approach for the autonomous navigation of a load-haul-dump (LHD) truck in an underground mine is presented. The development of a minimal-structure combined ICP-EKF algorithm utilizing a scanning-laser range-finder for the localization of the vehicle is described. The iterative closest point (ICP) algorithm is employed for matching the scanned data to an existing map in the form of a poly-line. This combined approach efficiently deals with the uncertainty present in the range data. An extended Kalman filter (EKF) algorithm is employed, that exploits a nonlinear kinematic model incorporating the vehicle-slip, a nonlinear observation model based on the vertices of the poly-line map, and the bearing of the laser-observations. This provides reliable vehicle estimates. Real data gathered during a trial run in the mine is employed in testing the efficiency of this approach which is found to be robust with respect to occlusions and outliers, demonstrating the successful navigation of the LHD.

关键词： Navigation Remotely operated vehicles Iterative algorithms Robot sensing systems Iterative closest point algorithm Mechatronics Uncertainty Kinematics Laser modes Testing

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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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The soft landing problem: Minimizing energy loss by a legged robot impacting yielding terrain

arXiv

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arXiv 2019年

作者： Lynch, Daniel J. Lynch, Kevin M. Umbanhowar, Paul B. Center for Robotics and Biosystems Department of Mechanical Engineering Northwestern University EvanstonIL60208 United States

Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain presents additional challenges such as permanent ground deformation which dissipates energy. In this paper, we examine the soft landing problem: given some impact momentum, bring the robot to rest while minimizing foot penetration depth. To gain insight into properties of penetration depth-minimizing control policies, we formulate a constrained optimal control problem and obtain a bang-bang open-loop force profile. Motivated by examples from biology and recent advances in legged robotics, we also examine impedance-control solutions to the dimensionless soft landing problem. Through simulations, we find that optimal impedance reduces penetration depth nearly as much as the open-loop force profile, while remaining robust to model uncertainty. Through simulations and experiments, we find that the solution space is rich, exhibiting qualitatively different relationships between impact velocity and the optimal impedance for small and large dimensionless impact velocities. Lastly, we discuss the relevance of this work to minimum-cost-of-transport locomotion for several actuator design choices. Copyright © 2019, The Authors. All rights reserved.

关键词： Uncertainty analysis

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Development of independently-controlled position and orientation manipulator for minute work

Development of independently-controlled position and orienta...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Tokashiki K. Kaneko K. Tanie Department of Information Engineering University of Ryukyus Okinawa Japan Department of Robotics Mechanical Engineering Laboratory Ministry of International Trade and Industry Tsukuba Ibaraki Japan

We propose and develop a novel type of manipulator for the minute work. It can not only independently control the position and orientation of the end-effector, but also control the translational motion along with the axis of end-effector by only one actuator in any orientation. By this mechanism, it is able to achieve a larger workspace with high precision comparing with the traditional proposed manipulator for minute work. From the result of measurement of accuracy for our prototype manipulator, it is shown that the error of the end-effector tip is within 50.0 /spl mu/m and repeated positioning error is within 2.0 /spl mu/m in the changing orientation process.

关键词： Surgery Manipulators Motion control Blood vessels Actuators Position measurement Prototypes PROM Surges Nerve endings

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Continuous Sign Language Recognition Using Intra-Inter Gloss Attention

arXiv

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arXiv 2024年

作者： Ranjbar, Hossein Taheri, Alireza Social and Cognitive Robotics Lab. Mechanical Engineering Department Sharif University of Technology Tehran Iran

Many continuous sign language recognition (CSLR) studies adopt transformer-based architectures for sequence modeling due to their powerful capacity for capturing global contexts. Nevertheless, vanilla self-attention, which serves as the core module of the transformer, calculates a weighted average over all time steps;therefore, the local temporal semantics of sign videos may not be fully exploited. In this study, we introduce a novel module in sign language recognition studies, called intra-inter gloss attention module, to leverage the relationships among frames within glosses and the semantic and grammatical dependencies between glosses in the video. In the intra-gloss attention module, the video is divided into equally sized chunks and a self-attention mechanism is applied within each chunk. This localized self-attention significantly reduces complexity and eliminates noise introduced by considering non-relative frames. In the inter-gloss attention module, we first aggregate the chunk-level features within each gloss chunk by average pooling along the temporal dimension. Subsequently, multi-head self-attention is applied to all chunk-level features. Given the non-significance of the signer-environment interaction, we utilize segmentation to remove the background of the videos. This enables the proposed model to direct its focus toward the signer. Experimental results on the PHOENIX-2014 benchmark dataset demonstrate that our method can effectively extract sign language features in an end-to-end manner without any prior knowledge, improve the accuracy of CSLR, and achieve the word error rate (WER) of 20.4 on the test set which is a competitive result compare to the state-of-the-art which uses additional supervisions. © 2024, CC BY-NC-ND.

关键词： Semantics

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Visual Servoing Based on Geometric Features by Surface Structured Light

Visual Servoing Based on Geometric Features by Surface Struc...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Hong Sheng Jing Xu Ken Chen Guanglie Zhang Department of Mechanical Engineering Tsinghua University Beijing China Shenzhen Academy of Robotics Shenzhen Guangdong China

ISBN: (纸本)9781538604915

Traditional visual servoing based on passive vision cannot deal with the non-textured object. Therefore, we propose a method that combines image-based visual servoing with surface structured light. The goal of our method is to realize positioning task of 3 DOFs robot in translational motion. In our approach, the phase map of a non-textured target object is got at first through structured light. Then, the edge is extracted from phase map and is utilized for the robot servo control. An error definition is adopted and the fuzzy PID controller is used for the positioning task. A non-textured white plane has then experimented and the result is satisfying.

关键词： Image edge detection Visual servoing Cameras Three-dimensional displays Task analysis

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Nanoscale 3D printing of glass photonic crystals with near-unity reflectance in the visible spectrum

引用

Science Advances 2025年第21期11卷 eadv0267页

作者： Wang Zhang Hongtao Wang Hao Wang Son Tung Ha Lei Chen Xue Liang Li Cheng-Feng Pan Bochang Wu Md. Abdur Rahman Yujie Ke Qifeng Ruan Xiaolong Yang Thomas Christensen Joel K. W. Yang Engineering Product Development Singapore University of Technology and Design Singapore 487372 Singapore. Singapore-HUJ Alliance for Research and Enterprise (SHARE) The Smart Grippers for Soft Robotics (SGSR) Programme Campus for Research Excellence and Technological Enterprise (CREATE) Singapore 138602 Singapore. School of Instrumentation and Optoelectronic Engineering Beihang University Beijing 100191 China. Hangzhou International Innovation Institute Beihang University Hangzhou 311115 China. Institute of Materials Research and Engineering (IMRE) Agency for Science Technology and Research (A*STAR) 2 Fusionopolis Way Innovis #08-03 Singapore 138634 Singapore. College of Mechanical and Vehicle Engineering Hunan University Changsha 410082 China. Department of Electrical and Computer Engineering National University of Singapore (NUS) 4 Engineering Drive 3 Singapore 117576 Singapore. School of Interdisciplinary Studies Lingnan University Tuen Mun Hong Kong SAR China. Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China. College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China. Department of Electrical and Photonics Engineering Technical University of Denmark Kongens Lyngby 2800 Denmark. POLIMA—Center for Polariton-driven Light–Matter Interactions University of Southern Denmark Campusvej 55 DK-5230 Odense M Denmark.

Glass is widely used as an optical material due to its high transparency, thermal stability, and mechanical properties. The ability to fabricate and sculpt glass at the nanoscale would naturally expand its application domain in nanophotonics. Here, we report an approach to print glass in three dimensions with nanoscale resolutions. We developed Glass-Nano, an organic-inorganic hybrid resin containing silicon elements. Using this high-resolution resin, three-dimensional (3D) photonic crystals (PhCs) were printed with two-photon lithography. After printing, the structures were heated to high temperatures in air to remove organic components and convert the remaining material into silica glass. 3D glass PhCs with periodicities as small as 260 nanometers were obtained after sintering at 650°C. The 3D glass PhCs exhibit ~100% reflectance in the visible range, surpassing the typical reflectances observed from similar structures in low–refractive index materials. The quality of PhCs achieved is observed in both electron microscopy and the excellent agreement with band structure calculations of idealized structures.

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Alloy Inconel 718 by 3D Micro-electro Discharge Machining

Alloy Inconel 718 by 3D Micro-electro Discharge Machining

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2014 International Conference on Applied Mechanics and mechanical Automation(AMMA 2014)

作者： Piyapong Kumkoon Chana Raksiri Chaiyakorn Jansuwan Industrial Production Technology Program Faculty of EngineeringKasetsart University Department of Industrial Engineering Faculty of EngineeringKasetsart University Department of Mechanical Engineering Faculty of EngineeringKasetsart University

This article aims to show the effects of the Micro-EDM process that influences the hole taper by comparing the parameters values during micro-drilling hole on the inconel 718 material. The condition of Micro-EDM drilling spark on the surface workpiece was 300 μm of depth and 200 μm of diameter tungsten carbide electrode. The experiment was carried out under the cover of hydrocarbon, using fluid dielectric cooling. The experiment parameters included on-time duty factor, off-time, voltage, frequency, and current, respectively. The experiment, it was found that the hole taper an immense effect on the machinability of drilling the workpieces, cause melting and recasting in the spark area, making a decrease in the ability of debris removal. Moreover, the experiment result, the tapered workpiece showed a minimized is 16.87 s, when using parameters at current 32 m A, frequency 150 Hz, and voltage 110 v, respectively. The optimal parameters to affected minimum hole taper is 0.195 degree, when using parameters at current 32 m A, frequency 130 Hz, and voltage 110 v, respectively.

关键词： 3D Micro-EDM Alloy Inconel 718 Hole taper

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