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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Bocewicz, G. Wójcik, R. Banaszak, Z. Dept. of Computer Science and Management Koszalin University of Technology Sniadeckich 2 75-453 Koszalin Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland Dept. of Business Informatics Warsaw University of Technology Narbutta 85 02-524 Warsaw Poland

ISBN: (纸本)9783902661982

This paper concerns the domain of the multimodal transportation systems composed of buses, trains, trams and subways lines and focuses on the scheduling problems encountered in these systems. Transportation Network Infrastructure (TNI) can be modeled as a network of lines providing cyclic routes for particular kinds of stream-like moving transportation means. Lines are connected by common shared change stations. Depending on TNI timetabling the time of the trip of passengers following different itineraries may dramatically differ, e.g. the same distances along the north-south, and east-west directions may require different travel time. So, the mine question regards of TNI schedulability, e.g. the guarantee the same distances in arbitrarily assumed directions will require approximate traveled time. Considered timetabling problem belongs to NP-hard ones. The declarative model of TNI enabling to formulate cyclic scheduling problem in terms of the constraint satisfaction one is our main contribution. At last, the simulated results manifest the promising properties of the proposed model. © 2012 IFAC.

关键词： Travel time

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Robot3D — A simulator for mobile modular self-reconfigurable robots

Robot3D — A simulator for mobile modular self-reconfigurabl...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Lutz Winkler Vojtěch Vonásek Heinz Wörn Libor Přeučil Institute for Process Control and Robotics (IPR) Karlsruhe Institute for Technology (KIT) Germany CTU in Prague Faculty of Electrical Engineering Dept. of Cybernetics CTU in Prague Dept. of Cybernetics

A heterogeneous, mobile, self-reconfigurable and modular robot platform is being developed in the projects SYMBRION and REPLICATOR. The locomotion of the robots as well as forming of the robot organisms will be controlled using evolutionary and bio-inspired techniques. As the robots are not available at the beginning of the projects and experiments are time consuming and carry risks of damaging the robots, the evolutionary algorithms will be run using a simulation. The simulation has to provide realistic movements of a swarm of robots, simulating the docking procedure between the robots as well as simulating organism motion. High requirements are imposed on such a simulator. We developed the Robot3D simulator, which dynamically simulates a swarm of mobile robots as well as robot organisms. In this paper we will give an overview of the simulation framework, we will show first results of performance tests and we will present applications for which Robot3D has already been used.

关键词： Organisms Robot sensing systems Robot kinematics Mobile robots Collision avoidance

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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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CP-driven Modelling for Multi-modal Cyclic Transport Systems

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IFAC Proceedings Volumes 2012年第6期45卷 339-344页

作者： G. Bocewicz R. Wójcik Z. Banaszak Dept. of Computer Science and Management Koszalin University of Technology Sniadeckich 2 75-453 Koszalin Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wybrzeże Wyspiańskiego 27 50-370 Wrocław Poland Dept. of Business Informatics Warsaw University of Technology Narbutta 85 02-524 Warsaw Poland

关键词： cyclic scheduling multimodal transport system multimodal processes declarative modeling constraints programming

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Learning human reach-to-grasp strategies: Towards EMG-based control of robotic arm-hand systems

Learning human reach-to-grasp strategies: Towards EMG-based ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Minas V. Liarokapis Panagiotis K. Artemiadis Pantelis T. Katsiaris Kostas J. Kyriakopoulos Elias S. Manolakos Control Systems Lab School of Mechanical Engineering National Technical University of Athens Athens Greece ASU Human-Oriented Robotics and Control (HORC) Lab School for Engineering of Matter Transport and Energy Ira A. Fulton Schools of Engineering Arizona State University Tempe AZ USA Dept. of Informatics & Telecommunications University of Athens (UOA) Greece

Reaching and grasping of objects in an everyday-life environment seems so simple for humans, though so complicated from an engineering point of view. Humans use a variety of strategies for reaching and grasping anything from the simplest to the most complicated objects, achieving high dexterity and efficiency. This seemingly simple process of reach-to-grasp relies on the complex coordination of the musculoskeletal system of the upper limbs. In this paper, we study the muscular co-activation patterns during a variety of reach-to-grasp motions, and we introduce a learning scheme that can discriminate between different strategies. This scheme can then classify reach-to-grasp strategies based on the muscular co-activations. We consider the arm and hand as a whole system, therefore we use surface ElectroMyoGraphic (sEMG) recordings from muscles of both the upper arm and the forearm. The proposed scheme is tested in extensive paradigms proving its efficiency, while it can be used as a switching mechanism for task-specific motion and force estimation models, improving EMG-based control of robotic arm-hand systems.

关键词： Electromyography Muscles Support vector machines Grasping Training Accuracy Humans

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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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Development of an omnidirectional walking engine for full-sized lightweight humanoid robots

Development of an omnidirectional walking engine for full-si...

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ASME 2011 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE 2011

作者： Song, Seungmoon Ryoo, Young-Jae Hong, Dennis W. Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Dept. of Control and Robot Engineering Mokpo National University Muan-goon Korea Republic of Robotics and Mechanisms Laboratory Dept. of Mechanical Engineering Virginia Tech. Blacksburg VA 24061 United States

ISBN: (纸本)9780791854839

In this paper, we propose and demonstrate an omnidirectional walking engine that achieves stable walking using feedback from an inertial measurement unit (IMU). The 3D linear inverted pendulum model (3D-LIPM) is used as a simplified model of the robot, the zero moment point (ZMP) criterion is used as the stability criterion, and only the feedback from the IMU is utilized for stabilization. The proposed walking engine consists of two parts;the omnidirectional gait generator, and the stability controller. ZMP equations, derived based on the 3D-LIPM, are used in the omnidirectional gait generator. The solutions of the differential equations are directly used which reduces the computation cost compare to other existing methods. Two kinds of feedback controllers are implemented for the stability controller;one is the indirect reference ZMP controller, and the other is the indirect joint controller. The walking engine is tested on a lightweight, full-sized, 21-degree-of-freedom (DOF) humanoid robot CHARLI-L (Cognitive Humanoid Autonomous Robot with Learning Intelligence, version Lightweight) which stands 141 cm tall and weighs only 12.7 kg. The design goals of CHARLI-L are low development cost, lightweight, and simple design, which all match well with the proposed walking engine. The results of the experiments present the efficacy of our approach. Copyright © 2011 by ASME.

关键词： Anthropomorphic robots

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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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Cyclic steady state refinement

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作者： Bocewicz, Grzegorz Wójcik, Robert Banaszak, Zbigniew A. Dept. of Computer Science and Management Koszalin University of Technology Koszalin Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Faculty of Management Dept. of Business Informatics Warsaw University of Technology Warsaw Poland

ISBN: (纸本)9783642199332

The paper presents a new modeling framework enabling to evaluate the cyclic steady state of a given system of concurrently flowing cyclic processes (SCCP) on the base of the assumed topology of transportation routes, dispatching rules employed, resources and operation times as well as an initial processes allocation. The objective is to provide the rules useful in the course of routing and scheduling executed in SCCP where local cyclic processes interact on the base of a mutual exclusion protocol. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Transportation routes

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