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Norm Optimal Iterative Learning Control for Planar Tracking Tasks

IFAC Proceedings Volumes 2013年第11期46卷 683-688页

作者： David H. Owens Chris T. Freeman Bing Chu Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD UK Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ UK (Department of) Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova

The Iterative Learning Control (ILC) problem in which tracking is only required at a subset of isolated time points along the trial duration has recently gained significant attention since it addresses the practical needs of many *** paper extends the framework by embedding simultaneous iterative convergence of subsets of outputs to reference trajectories on subintervals. This enables it to tackle tasks which mix ‘point to point’ movements with linear tracking requirements, which substantially broadens the application domain (e.g. to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments). A solution to the problem is presented in the framework of Norm Optimal ILC (NOILC), providing well-defined convergence properties, design guidelines and supporting experimental results.

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HRI Pioneers Workshop 2013 13

HRI Pioneers Workshop 2013

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

作者： Solace Shen Henny Admoni Caroline Harriott Yunkyung Kim Matt Marge Marynel Vázquez Astrid Rosenthal-von der Pütten Matt Beane Yasuhiko Hato Daniel Lazewatsky Robin Read Steve Vozar Department of Psychology University of Washington Seattle USA Department of Social Psychology University of Duisburg-Essen Duisburg Germany Department of Computer Science Yale University New Haven USA Sloan School of Management Massachusetts Institute of Technology Cambridge USA Department of Electrical Engineering & Computer Science Vanderbilt University Nashville USA Graduate School of Science & Technology Keio University Yokohama Japan Department of Industrial Design Korea Advanced Institute of Science and Technology Daejeon South Korea Industrial & Manufacturing Engineering Oregon State University Corvallis USA Language Technologies Institute Carnegie Mellon University Pittsburgh USA Centre for Robotics & Neural Systems University of Plymouth Plymouth UK Robotics Institute Carnegie Mellon University Pittsburgh USA Department of Mechanical Engineering University of Michigan Ann Arbor USA

ISBN: (纸本)9781467330558

The 2013 Human-Robot Interaction (HRI) Pioneers Workshop, which will be held in conjunction with the 8 th ACM/IEEE International Conference on Human-Robot Interaction, is the premiere venue for student research in the field. This highly selective workshop seeks to foster creativity, communication, and collaboration between the world's top student researchers in the field of human-robot interaction. Pioneers Workshop participants will have the opportunity to learn about the current state of HRI, to present their research, and to network with one another and with select senior researchers in a setting that is less formal and more interactive then the main conference. The theme for this year is Re-envisioning HRI: Dealing With the Elephants in Our Room. The workshop aims to bring forward difficult to discuss issues to help the field achieve more balanced perspectives and a clearer picture of what sort of future we are building.

关键词： Educational institutions Conferences Human-robot interaction Psychology computer science Service robots

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A new hand exoskeleton device for rehabilitation using a three-layered sliding spring mechanism

A new hand exoskeleton device for rehabilitation using a thr...

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IEEE International Conference on robotics and Automation

作者： Jumpei Arata Keiichi Ohmoto Roger Gassert Olivier Lambercy Hideo Fujimoto Ikuo Wada Department of Computer Science and Engineering Graduate School of Engineering Nagoya Institute of Technology Gokiso-cho Showa-ku Nagoya 466-8555 Japan. Rehabilitation Engineering Laboratory Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland. Department of Rehabilitation Nagoya City University Hospital 1-Kawasumi MIzuho-cho Mizuho-ku Nagoya 467-8602 Japan.

ISBN: (纸本)9781467356404

In this paper, a new hand exoskeleton device using a three-layered sliding spring mechanism is presented. In contrast to state of the art hand exoskeleton mechanisms (typically link, wire or pneumatically driven), the proposed mechanism is driven through large deformations of the compliant mechanism body. The mechanism can be made compact and lightweight by adequately positioning the compliant elements. In addition, the mechanism is designed to distribute 1-DOF actuated linear motion into three rotational motions of the finger joints, which translate into natural finger flexion/extension. The primary applicatoin of the proposed mechanism is to provide robotic support during physical therapy at the hospital (e.g. Continuous Passive Motion). However, thanks to its light and wearable structure, the proposed device could also be used at home as an assistive/therapeutic device to support activities of daily living. We introduce the mechanical structure of the three-layered sliding spring mechanism, present a prototype implementation as a hand exoskeleton device, and provide a preliminary evaluation.

关键词： three-layered sliding spring mechanism art hand exoskeleton mechanisms compliant mechanism body

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Modeling and control of a lower-limb rehabilitation robot

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4th International Conference on Social robotics, ICSR 2012

作者： Ma, Yanjiao He, Wei Ge, Shuzhi Sam Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9783642341021

This paper proposes a lower-limb rehabilitation robot. It assists patients suffering from hemiplegic to recover the hurt leg by walking in a gait trajectory. A single-side mechanical structure is designed, which is driven by the pneumatic muscles. For further research, we build a simplified 2-DOF dynamic model with the Lagrange method. PD control and adaptive control strategies are developed with stability analysis demonstrating that both methods are stable and effective. At last, we achieve the tracking performances of the robot model in both control strategies by simulation results. © 2012 Springer-Verlag.

关键词： Lagrange multipliers

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Design and development of a wearable rehabilitation robot

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4th International Conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Guo, Weian Zhao, Zhen Zhang, Jie Xiao, Shengtao Nuraisha, Fon Ping Quek Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9783642341021

In this paper, we present the design and development of a wearable robot for the lower limb rehabilitation including the mechanical, electrical system, software implementation, etc. To make the robot wearable and portable and simplify the mechanism structure, servo motors are used as robot's joints. A friendly human robot interface is designed to make the robot easy to use. The dynamics of the robot is described by a 2-link rigid robotic manipulator in the joint space. The simulation results are given to demonstrate the feasibility and effectiveness of the designed lower limb rehabilitation robot-assisted system. © 2012 Springer-Verlag.

关键词： Machine design

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Towards AER VITE: Building spike gate signal

Towards AER VITE: Building spike gate signal

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2012 19th IEEE International Conference on Electronics, Circuits, and Systems, ICECS 2012

作者： Perez-Pena, Fernando Morgado-Estevez, Arturo Rioja-Del-Rio, Carlos Linares-Barranco, Alejandro Jimenez-Fernandez, Angel Lopez-Coronado, Juan Munoz-Lozano, Jose Luis Applied Robotics Lab High School of Engineering University of Cadiz Spain Automatic and System Engineering Department University Polytechnics of Cartagena Spain Department of Computer Architecture and Technology ETSI Computer Science University of Seville Spain

ISBN: (纸本)9781467312615

Neuromorphic engineers aim to mimic the precise and efficient mechanisms of the nervous system to process information using spikes from sensors to actuators. There are many available works that sense and process information in a spike-based way. But there are still several gaps in the actuation and motor control field in a spike-based way. Spike-based Proportional-Integrative- Derivative controllers (PID) are present in the literature. On the other hand, neuro-inspired control models as VITE (Vector Integration To End point) and FLETE (Factorization of muscle Length and muscle Tension) are also present in the literature. This paper presents another step toward the spike implementation of those neuro-inspired models. We present a spike-based ramp multiplier. VITE algorithm generates the way to achieve a final position targeted by a mobile robotic arm. The block presented is used as a gate for the way involved and it also puts the incoming movement on speed with a variable slope profile. Only spikes for information representation were used and the process is in real time. The software simulation based on Simulink and Xilinx System Generator shows the accurate adjust to the traditional processing for short time periods and the hardware tests confirm and extend the previous simulated results for any time. We have implemented the spikes generator, the ramp multiplier and the low pass filter into the Virtex-5 FPGA and connected this with an USB-AER (Address Event Representation) board to monitor the spikes. © 2012 IEEE.

关键词： Muscle

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Balancing and posture controls for biped robots with unmodelled dynamics

Balancing and posture controls for biped robots with unmodel...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Li, Zhijun Ge, Shuzhi Sam Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9783642335082

This paper presents a structure of robust adaptive control for biped robots which includes balancing and posture control for regulating the center of mass position and trunk orientation of bipedal robots in a compliant way. First, the biped robot is decoupled into the dynamics of center of mass (COM) and the trunks. Then, the adaptive robust controls are constructed in the presence of parametric and functional dynamics uncertainties. The control computes a desired ground reaction force required to stabilize the posture with unknown dynamics of COM and then transforms these forces into full-body joint torques even if the external disturbances exist. The verification of the proposed control is conducted using the extensive simulations. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Dynamics

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A further study on short term memory improvement by neurofeedback

A further study on short term memory improvement by neurofee...

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2012 International Conference on Biomedical engineering and Biotechnology, iCBEB 2012

作者： Nan, Wenya Rodrigues, Joao Pedro Wan, Feng Mak, Peng Un Mak, Pui In Vai, Mang I. Rosa, Agostinho Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China LaSEEB-System and Robotics Institute Instituto Superior Tecnico Technical University of Lisbon Portugal

ISBN: (纸本)9780769547060

Our previous study successfully improved short term memory by individual alpha neurofeedback training. However, short term memory and its improvement in different languages are still not clear. Therefore, the purpose of this paper was to evaluate the memory performance in alphabetic and ideographic language groups. Besides, the relationship between initial memory and its improvement was investigated. The results indicated short term memory in ideographic language was higher than those in alphabetic language and forward digit span improvement was positive related to its initial performance. © 2012 IEEE.

关键词： Brain

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Design of a mechanical gripper with an integrated smart sensor network for multi-axial force sensing and perception of environment

Design of a mechanical gripper with an integrated smart sens...

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Smart Systems Integration Conference 2012, SSI 2012

作者： Bosse, Stefan Hogreve, Sebastian Tracht, Kirsten University of Bremen Department of Computer Science Workgroup Robotics Germany Bremen Institute for Mechanical Engineering University of Bremen Germany ISIS Sensorial Materials Scientific Centre Bremen Germany

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Effect of malicious hardware logic on circuit reliability 1

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16th International Symposium on VLSI Design and Test, VDAT 2012

作者： Burman, Sanjay Palchaudhuri, Ayan Chakraborty, Rajat Subhra Mukhopadhyay, Debdeep Singh, Pranav Centre for Artificial Intelligence and Robotics C.V. Raman Nagar Bangalore 560093 India Department of Computer Science and Engineering Indian Institute of Technology Kharagpur Kharagpur 721302 India

ISBN: (数字)9783642314940

ISBN: (纸本)9783642314933

Malicious modifications of integrated circuits have emerged as a potent threat to circuit and system security and reliability. In this paper, we present theoretical models of different types of commonly investigated malicious hardware logic to estimate their effect on circuit reliability, specifically those malicious circuit modifications that cause functional failure of circuits ("hardware Trojans"). Simulation results show close match to the theoretically predicted trends. © 2012 Springer-Verlag.

关键词： Reliability

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