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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Omar Salah Ahmed Asker Ahmed M. R. Fath El-Bab Samy M. F. Assal Ahmed A. Ramadan Salvatore Sessa Ahmed Abo-Ismail Egypt-Japan University of Science and Technology Alexandria Egypt Egypt-Japan University of Science and Technology New Borg-El-Arab Alexandria Egypt El-Bab is with Egypt-Japan University of Science and Technology New Borg-El-Arab Alexandria Egypt Department of production engineering and mechanical design Egypt Tanta University Alexandria Egypt Mechatronics and Robotics dept. Egypt-Japan University of Science and Technology School of Creative Science and Engineering Waseda University Tokyo Japan

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory.

关键词： Actuators Force Assistive devices Hip Educational institutions Joints End effectors

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A study on the mobile communication network with smart phone for building of location based real time reservation system

International Journal of Multimedia and Ubiquitous Engineeri...

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International Journal of Multimedia and Ubiquitous engineering 2012年第2期7卷 17-36页

作者： Kang, Sin Kwan Kang, Hee Kuk Kim, Jung Eun Lee, Hyun Lee, Jeong Bae Dept. of Visual Media Korea Polytechnic IV College Asan 336-781 Korea Republic of Department of Computer Engineering Division of Robotics System DGIST Daegu 711-873 Korea Republic of Dept. of Computer Engineering Sunmoon University Asan 336-708 Korea Republic of

Due to "Smart Big Bang" in recent, the applications of convergence industry between IT technology depending on smart-phone based mobile communication networks and others are expanding. Various technologies in other fields are adapted to smart-phone efficiently so as to support more convenient daily life service to smart-phone users. However, the developing speed of products is too fast to following most of issues of current smart-phone applications. The designing and developing techniques of smart-phone system become more complicate for adapting new technologies of smart-phone into wireless communication network. There is no perfect solution to solve these problems. Thus, we propose an Augmented Reality (AR) based embedded integration prototyping for the networked system management as one of method. In particular, we describe a network based ticket reservation system and its organization based on smart-phone applications with augmented reality (AR). Prior to developing and designing real smart-phone application, this embedded integration prototyping is helpful to control and predict operational process in big events such as Film Festival, Biennale, EXPO, and so on. Finally, we apply our proposed method into a certain specific zone such as YEOSU EXPO in order to build a location based real time reservation system.

关键词： Augmented reality

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TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness

TeleImpedance: Exploring the role of common-mode and configu...

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IEEE-RAS International Conference on Humanoid Robots

作者： A. Ajoudani M. Gabiccini N. Tsagarakis A. Albu-Schäffer A. Bicchi Faculty of Engineering University of Pisa Department of Mechanical University of Pisa Dept. of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

Humans explore and adapt neuro-motor strategies to cope with limitations of multi-joint impedance regulation mechanism. For instance, predictive control of degrees of redundancy further regulates the endpoint impedance in addition to co-contractions. Inspired by these observations, this paper proposes a novel Tele-Impedance algorithm that replicates the human's arm endpoint stiffness in robot by controlling the common-mode and configuration-dependant stiffness. Design of the controller and its stability is addressed and experimentally evaluated in robotic peg-in-hole task. Results of the proposed method are compared to the ones derived from Tele-Impedance implemented using classical Cartesian stiffness control. The interaction performance achieved highlights the possibility of adopting common mode stiffness in robots with adequate degrees of redundancy, in order to realize the desired task space impedance.

关键词： Logic gates

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative engineering Systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators Control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying Control system hardware Finite element method Autonomous robots basic structure Materials selection

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Modeling and Control of a New Quadrotor Manipulation System

Modeling and Control of a New Quadrotor Manipulation System

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International Conference on Innovative engineering Systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. Controller is designed based on feedback linearization to track desired trajectories. Controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Editorial

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The International Journal of robotics Research 2012年第13期31卷 1529 - 1530页

作者： Sami Haddadin Paolo Robuffo Giordano Angelika Peer Robotics and Mechatronics Center German Aerospace Center (DLR) Münchner Straße 20 81377 Wessling Germany Max Planck Institute for Biological Cybernetics Dept. Bülthoff Spemannstraße 38 72076 Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Theresienstraße 90 80333 München Germany

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Fuzzy logic based cycle-to-cycle control of FES-induced swinging motion

Fuzzy logic based cycle-to-cycle control of FES-induced swin...

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International Conference on Electrical, Control and Computer engineering

作者： Ibrahim, B.S.K.K. Tokhi, M.O. Huq, M.S. Gharooni, S.C. Dept. of Mechatronics and Robotics Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781612842288

FES induced movement control is a significantly challenging area due to complexity and non-linearity of musculo-skeletal system. The goal of this study is to design a cycle-to-cycle control of FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated by controlling the amount of stimulation pulsewidth. This time dependent behaviour is successfully compensated for using a cycle-to cycle fuzzy controller, which computes the amount of knee extension stimulation on the basis of the achieved flexion angle in previous cycles. The capability of fuzzy control in automatic generation of stimulation burst duration is assessed in computer simulations using a musculo-skeletal model. This paper presents the development of a fuzzy logic control scheme based on discrete-time cycle to cycle control strategies without predefined trajectory. The results show the effectiveness of the approach in controlling FES-induced swinging motion. © 2011 IEEE.

关键词： Genetic algorithms

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Identification of time-variant systems using wavelet analysis of force and acceleration response signals 4

Identification of time-variant systems using wavelet analysi...

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4th International Operational Modal Analysis Conference, IOMAC 2011

作者： Xu, X. Staszewski, W.J. Xu, X. Shi, Z.Y. Fassois, S. Department of Mechanical Engineering University of Sheffield Sheffield United Kingdom Dept. of Robotics and Mechatronics AGH University of Science and Technology Krakow Poland College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Department of Mechanical and Aeronautical Engineering University of Patras Patras Greece

ISBN: (纸本)9781632668530

The identification of dynamic parameters is of prime importance in vibration analysis. A number of different time and frequency domain methods have been developed for vibration analysis of time-invariant systems. However, many engineering systems exhibit time-variant behavior. This paper presents a simulation example of a time-variant approach used for parameter identification in a simple vibration system with time-varying mass characteristics, which is a steel beam traversed by a mass travelling at constant velocity. Force excitation and acceleration response signals are analysed to reveal time-varying nature of the system. Wavelet analysis is used for system identification. The method is based on a recently developed direct identifica-tion algorithm. Copyright © (2011) by International Operational Modal Analysis Conference (IOMAC) All rights reserved.

关键词： Wavelet analysis

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Time-optimal motion planning for robots

Time-optimal motion planning for robots

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Somló, János Molnár, József Óbuda University Knowledge Centre of Robotics Budapest Hungary Budapest University of Technology and Economics Dept. Mechatronics Optics and Mechanical Engineering Informatics Hungary

ISBN: (纸本)9781424468867

At the practical application of robots, the part processing time has a key role. The part processing time is an idea borrowed from manufacturing technology. In robotics it mostly means that the robots tool-centre point should go along some given path and the tool orientation in every point should also have the given values. These two requirements have to be satisfied at the same time. In the present paper we propose a method which provides the motion in every point of the path with the possible maximum velocity. In fact, we divide the path to transient and cruising parts and require the maximum velocities only for this second part. The given motion is called "Timeoptimal cruising motion". We demonstrate on an example the simplicity of the approach. Using the parametric method of motion planning, we give the equations for determining time-optimal motions. Not only the translation motions of tool-centre points but, also the orientation motions of too lsmay be optimally planned. The time-optimal motion planning is also possible for free paths (PTP motions). A general approach for this problem is proposed, too. In the paper, some parts are devoted to the deeper understanding of the optimization problems. © 2010 IEEE.

关键词： Motion planning

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Robotic manipulation and control for micro and nano mechatronics

Robotic manipulation and control for micro and nano mechatro...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Fukuda, Toshio Nakajima, Masahiro Ahmad, Mohd Ridzuan Shen, Yajing Nogawa, Kousuke Kojima, Masaru Dept. of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Center for Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Dept. of Mechatronics and Robotics Universiti Teknologi Malaysia 81310 UTM Skudai Johor Darul Takzim Malaysia

ISBN: (纸本)9781424470334

mechatronics was born in Japan in 1969. It is the synergetic integration of the Mechanical engineering and Electronic engineering with computer technology. It is a design discipline for the system integration for the structure and control of the target system. Today's mechatronics has advanced more and more to wider and broader areas, such as Micro and Nano mechatronics. In this lecture, this field is overviewed from the standpoint of robotic manipulation and control Micro mechatronics is one of mechatronics areas and has made remarkable progress recently, such as micro sensor and actuator for automotive technology, avionics technology, bio-medical manipulation technology, consumer electronics, and many others. It is mainly based on the Silicon lithography technology and other micro-fabrication technologies. Micro TAS (Total Analysis System) is one of the Micro technological applications. Nano mechatronics deals with the much smaller sized world than the Micro mechatronics. Nanotechnology gives technologies for nano-fabrication, nano-instrumentation and nano assembly for these areas, including nano-sensor, actuator and manipulation technology. Bio nanotechnology based on the Nano-mechatronics is also promising for the research in life-science. Thus the micro and nano robotic manipulation and control will play an important role for the 3 dimensional fabrication and assembly system and those application examples will be shown in this lecture. ©2010 IEEE.

关键词： Nanosensors

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