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International Conference on Control, Instrumentation, and Automation

作者： S. A. Khalilpour R. Khorrambakht M. J. Harandi H. D. Taghirad Philippe Cardou Advanced Robotics and Automated Systems Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran Department of Mechanical Engineering Robotics Laboratory Laval University Quebec City QC Canada

ISBN: (数字)9781728158150

ISBN: (纸本)9781728158167

Most control systems used for cable-driven parallel manipulators employ a simple inner control loop for controlling the driving force of the actuators. By this means the effects of some nonlinear uncertainties of the actuator and power transmission systems are significantly reduced, and in turn, this helps the outer user-specified position control loop to perform more accurately. However, this positive impact on performance relies on non achievable assumptions that the inner control loop is fast and accurate enough, and its dynamics can be totally ignored. The main contribution of this paper is to analyze the stability of the system as a whole, considering both inner and outer loop controllers. The outer loop controller proposed in here is a finite time robust sliding mode whose stability is analyzed through the Lyapunov direct method. A deployable cable-driven parallel robot, as the case study, is also considered in this paper, which is characterized by several intrinsic kinematic and dynamic uncertainties. Finally, the performance and effectiveness of the proposed robust controller is evaluated through some simulations and experiments in order to verify the effectiveness and the characteristics of the cascade controller structure in practice.

关键词： Robots Mathematical model Actuators Jacobian matrices Force Uncertainty Kinematics

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A model predictive approach for online mobile manipulation of nonholonomic objects using learned dynamics

arXiv

引用

arXiv 2019年

作者： Sabbagh Novin, Roya Yazdani, Amir Merryweather, Andrew Hermans, Tucker Department of Mechanical Engineering Utah Robotics Center University of Utah Utah United States School of Computing and Utah Robotics Center University of Utah Utah United States

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior to safely using robots in real life applications. In this article, we introduce a mobile manipulation framework based on model predictive control using learned dynamics models of objects. We focus on the specific problem of manipulating legged objects such as those commonly found in healthcare environments and personal dwellings (e.g. walkers, tables, chairs). We describe a probabilistic method for autonomous learning of an approximate dynamics model for these objects. In this method, we learn dynamic parameters using a small dataset consisting of force and motion data from interactions between the robot and object. Moreover, we account for multiple manipulation strategies by formulating the manipulation planning as a mixed-integer convex optimization. The proposed framework considers the hybrid control system comprised of i) choosing which leg to grasp, and ii) control of continuous applied forces for manipulation. We formalize our algorithm based on model predictive control to compensate for modeling errors and find an optimal path to manipulate the object from one configuration to another. We show results for several objects with various wheel configurations. Simulation and physical experiments show that the obtained dynamics models are sufficiently accurate for safe and collision-free manipulation. When combined with the proposed manipulation planning algorithm, the robot successfully moves the object to a desired pose while avoiding collision. Copyright © 2019, The Authors. All rights reserved.

关键词： Convex optimization

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The hBracelet: A Wearable Haptic Device for the Distributed Mechanotactile Stimulation of the Upper Limb

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IEEE robotics and Automation Letters 2018年第3期3卷 2198-2205页

作者： Meli, Leonardo Hussain, Irfan Aurilio, Mirko Malvezzi, Monica O'Malley, Marcia K. Prattichizzo, Domenico Department of Information Engineering University of Siena Siena53100 Italy Khalifa University Robotics Institute Khalifa University of Science Technology and Research Abu Dhabi127788 United Arab Emirates Department of Mechanical Engineering Rice University HoustonTX77005 United States Department of Advanced Robotics Istituto Italiano di Tecnologia Genova16163 Italy

Haptic interfaces are mechatronic devices designed to render tactile sensations;although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Toward a more realistic feeling of virtual and remote environment interactions, we propose a novel wearable skin stretch device for the upper limb called 'hBracelet.' It consists of two main parts coupled with a linear actuator. Each part contains two servo actuators that move a belt. The device is capable of providing distributed mechanotactile stimulation on the arm by controlling the tension and the distance of the two belts in contact with the skin. When the motors spin in opposite directions, the belt presses into the user's arm, while when they spin in the same direction, the belt applies a shear force to the skin. Moreover, the linear actuator exerts longitudinal cues on the arm by moving the two parts of the device. In this letter, we illustrate the mechanical structure, working principle, and control strategies of the proposed wearable haptic display. We also present a qualitative experiment in a teleoperation scenario as a case study to demonstrate the effectiveness of the proposed haptic interface and to show how a human can take advantage of multiple haptic stimuli provided at the same time and on the same body area. The results show that the device is capable of successfully providing information about forces acting at the remote site, thus, improving telepresence. © 2016 IEEE.

关键词： Remote control

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Using mechatronics to develop self learners and connect the dots in the curriculum 125

Using mechatronics to develop self learners and connect the ...

引用

125th ASEE Annual Conference and Exposition

作者： Rabb, Robert J. Washuta, Nathan John Floyd, Coleman D. Mechanical Engineering Program Citadel United States Department of Mechanical Engineering Citadel CharlestonSC United States Citadel United States

Mechatronics has traditionally been considered a simple combination of mechanical and electrical systems, but as technology and capability have advanced, the field of mechatronics has expanded to include mechanical engineering, electronics, computer engineering, and controls engineering. This multidisciplinary nature of mechatronics makes it an ideal basis from which to construct new capabilities and knowledge. As a mandatory senior level course for mechanical engineers at The Citadel, mechatronics is a course that allows students to exercise their creativity and problem solving skills in a multidisciplinary way. Upon entering this course, many students comprehend some basics of several of the constitutive disciplines, but now must work to integrate these areas while implementing new devices. This paper describes four hands-on labs that progress in difficulty. These challenges follow the course material and design, pushing the students to work through the lecture material and example problems. Students are encouraged to think about the final product they will present, and work towards implementing portions of it in each lab requirement. For those that adhere to this advice, the final integration is much easier than those who treat each lab as a disjointed exercise. Each lab requirement has at least one in-class work session, and two require the student teams to present their prototype or proof of concept. The faculty member who teaches the course and a lab technician are available to support the groups and provide additional information or assistance on implementing their devices. Student reviews (4.35 out of 5 on evaluations) and grades show they are meeting the desired learning objectives and enjoy the challenges (4.40 out of 5 on evaluations). Students with no prior programming experience in C++ quickly gain proficiency and are more confident with their critical thinking, creativity, and problem solving skills as well as their ability to be self-learners. Instruc

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Metaclusters for the full control of mechanical waves

arXiv

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arXiv 2020年

作者： Packo, Pawel Norris, Andrew N. Torrent, Dani Department of Robotics and Mechatronics AGH - University of Science and Technology Al. A. Mickiewicza 30 Krakow30-059 Poland Mechanical and Aerospace Engineering Rutgers University PiscatawayNJ08854-8058 United States Universitat Jaume I Castelló12071 Spain

We present a new method for the control of waves based on inverse multiple scattering theory. Conceived as a generalization of the concept of metagrating, we call metaclusters to a finite set of scatterers whose position and properties are obtained by inverse design once we have defined their response to some external incident field. The particular focus is on designing passive metaclusters that do not require an external source of energy. The method is applied to the propagation of flexural waves in thin plates, and to the design of far field patterns, although its generalization to acoustic or electromagnetic waves is straightforward. Numerical examples are presented to the design of uni and bidirectional "anomalous scatterers", which will bend the scattering energy along a specific direction, "odd pole" scatterers, whose radiation pattern presents an odd number of poles and to the generation of vortical patterns. Finally, some considerations about the optimal design of these metaclusters are discussed. Copyright © 2020, The Authors. All rights reserved.

关键词： Poles

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Four-scroll chaotic attractor and four-scroll hyperchaotic attractor generated from a new four-dimensional dynamical system

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Journal of Physics: Conference Series 2021年第1期1764卷

作者： Khaled Benkouider Toufik Bouden Mustak E. Yalcin Aceng Sambas Mujiarto Muhamad Ali Pahmi Akhmad Sutoni Widjajani Non Destructive Testing Laboratory Automatic Department Jijel University Algeria Department of Electronics and Communication Engineering Istanbul Technical University Turkey Department of Mechanical Engineering Universitas Muhammadiyah Tasikmalaya Indonesia Department of Industrial Engineering Sekolah Tinggi Teknologi Cileungsi Indonesia Department of Industrial Engineering Universitas Suryakancana Cianjur Indonesia Industrial Engineering Study Program Universitas Langlangbuana Bandung Indonesia

In this paper, a new 4-D hyperchaotic system with one equilibrium point is first introduced. It contains ten terms with three quadratic nonlinearities. Of particular interest is that this novel system can generate periodic attractor, quasi-periodic attractor, four-scroll chaotic attractor and four-scroll hyperchaotic attractor with the variation of one of its parameters. Major dynamical properties of the new system are investigated such as sensitivity to the initial conditions, dissipativity, equilibrium point stability, Kaplan-Yorke dimension, Lyapunov exponents spectrum and bifurcation diagram. In addition, an equivalent electronic circuit schematic is implemented using Multisim software; the obtained results confirm the feasibility of the proposed system.

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Chemical-source localization using a swarm of decentralized unmanned aerial vehicles for urban/suburban environments

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ASME 2019 Dynamic Systems and Control Conference, DSCC 2019

作者： Steiner, Jake A. Bourne, Joseph R. He, Xiang Cropek, Donald M. Leang, Kam K. Lab Department of Mechanical Engineering Robotics Center University of Utah Salt Lake CityUT84112 United States Environmental Chemistry Laboratory Synthetic Biology Laboratory U.S. Army Corps of Engineers ERDC-CERL ChampaignIL United States

ISBN: (纸本)9780791859162

In this paper, a decentralized chemical-source localization method is presented. In a real-world scenario, many challenges arise, including sporadic chemical measurements due to the complex interactions between the unmanned aerial vehicles (UAVs), the ambient air, and obstacles. The localization method is split into two phases: a search phase, where the agents cover the area and look for an initial chemical reading;followed by a convergence phase, where UAV agents utilize a particle swarm optimization (PSO) algorithm to locate the source of the chemical leak. The decentralized source-localization method enables a swarm of UAVs to safely travel in a complex environment and avoid obstacles and other agents while searching for the leaking source. The method is validated in simulation using realistic dynamic chemical plumes and through outdoor flight tests using a swarm of UAVs. The results demonstrate the feasibility of the approach. © 2019 ASME.

关键词： Antennas

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Perspective: mechanical properties of stabilized nanocrystalline FCC metals

引用

Journal of Applied Physics 2019年第11期126卷

作者： Spearot, Douglas E. Tucker, Garritt J. Gupta, Ankit Thompson, Gregory B. Department of Mechanical and Aerospace Engineering University of Florida GainesvilleFL32611 United States Department of Mechanical Engineering Materials Science Program Colorado School of Mines GoldenCO80401 United States Department of Metallurgical and Materials Engineering University of Alabama TuscaloosaAB35487 United States

In this perspective, recent advances and current research challenges concerning the mechanical properties of stabilized nanocrystalline face-centered cubic (FCC) metals are discussed. First, a brief review of key experiments and modeling efforts over the last two decades is provided, with a focus on elucidating the mechanisms associated with plastic yield, hardening, and microstructure stabilization in nanocrystalline metals. This prior work has provided an understanding of the transition between dislocation-based and grain boundary-mediated mechanisms in plasticity and has identified several strategies to mitigate temperature or stress driven grain growth. Yet, the consequence of various stabilization methods on mechanical properties is not well understood. Future research challenges are presented in order to address this scientific gap, most critically the need to include grain boundary chemistry or grain boundary phases resulting from stabilization methods in new mechanistic theories for mechanical properties of nanocrystalline FCC metals. © 2019 Author(s).

关键词： Grain boundaries

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Environmental Education and Innovative Teaching Approaches, Case Study: "Saving of Water"

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Journal of engineering Science and Technology Review 2020年第Special Issue期 285-288页

作者： Xagoraris, S. Thysiadou, A. Cristoforidis, S. Postgraduate Program "Teaching Pedagogy and Information and Communication Technologies" Eastern Macedonia and Thrace Institute of Technology 65404 Greece Eastern Macedonia and Thrace Institute of Technology Petroleum and Mechanical Engineering Department Kavala Greece Eastern Macedonia and Thrace Institute of Technology Manager of Department ICT of Library Kavala Greece

The goal of environmental education is not protecting the natural environment or coping with environmental problems through simple solutions. It addresses people and social groups of all ages and aims at developing free and responsible citizens who participate effectively in social acts. It tries to convey meanings which seem to be elusive or ambiguous and open to multiple interpretations. In this way, societies will be able to act collectively in order to discover, probe and set their priorities. It is considered to be a progressive type of education, which is not stable in time. Actually, it discerns and assimilates all the social, financial, technological and cultural changes. In this particular paper, innovative teaching approaches concerning water and more particularly its saving are presented. In the past few decades, the creation of a new mentality on saving water and on proper use of water resources appears to be an imperative need. This effort aims mainly at addressing the constantly increasing needs of modern society as well as ensuring the preservation of all types of ecosystems locally or globally. The subjects of the survey were students at the department of chemistry of Aristotle University of Thessaloniki. The data was processed with the SPSS 21.0 programme and techniques of descriptive statistical analysis were used. The conclusions of the present paper revealed that the implementation of alternative methods of approaching knowledge as well as the analytical description of the whole teaching approach based on lesson plans, concept maps, brainstorming and projects contribute to viable water resources to a great extent. Moreover, they facilitate in altering the mentality on how to consume water (proper use), how to economize on water (waste elimination, reduced consumption, improvement works) through suitable techniques and how to perceive that water is an invaluable commodity (information, education, sensitization). © 2020 School of Science, IHU. All

关键词： Water resources

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Correction to: Molybdenum oxide nanoporous asymmetric membranes for high‑capacity lithium ion battery anode

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Journal of Materials Research 2021年第13期37卷 2225-2225页

作者： Larson, Emilee Williams, Logan Jin, Congrui Chen, Xiaobo DiCesare, Jake Sheppard, Olivia Xu, Shaowen Wu, Ji Department of Chemistry and Biochemistry Georgia Southern University Statesboro USA Department of Civil and Environmental Engineering University of Nebraska-Lincoln Lincoln USA Materials Science and Engineering Program Binghamton University New York USA Department of Mechanical Engineering Georgia Southern University Statesboro USA

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