检索结果-内蒙古大学图书馆

SICE Annual Conference

作者： Ahmed Khalifa Mohamed Fanni Toru Namerikawa Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Department of System Design Engineering Keio University Yokohama Japan Department of Production Engineering and Mechanical Design Mansoura University Mansoura Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology

ISBN: (纸本)9781509009374

Recently, the Aerial Manipulation System becomes very attractive for a wide range of applications due to its unique features. However, control of such system is quite challenging. One of the critical challenge is that this system is very susceptible to actuators' faults. In this paper, a Passive Fault Tolerant Control System is proposed to address this issue with robust and optimal performance. The robustness is achieved using a linear Disturbance Observer (DOb) loop. Based on the linearization capability of DOb, a standard Model Predictive Control (MPC) is then used and the resulting control scheme is characterized by both a low computational load and optimal actuators' efforts with respect to conventional nonlinear robust solutions. This controller is tested to achieve the tracking of a point-to-point task space references under the effect of actuators' faults, picking/releasing a payload, changing the operating region, and measurement noise. Efficacy of the proposed technique is verified via numerical simulations.

关键词： Manipulators Actuators Robustness Payloads Mathematical model

来源：评论

学校读者我要写书评

暂无评论

Hybrid acceleration/velocity-based disturbance observer for a quadrotor manipulation system

Hybrid acceleration/velocity-based disturbance observer for ...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： Ahmed Khalifa Mohamed Fanni Toru Namerikawa Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Department of System Design Engineering Keio University Yokohama Japan Department of Mechatronics and Robotics Engineering Mansoura University Mansoura Egypt

ISBN: (纸本)9781509007561

Aerial manipulation systems become very attractive for a wide range of applications due to their unique features. However, control of such system is quite challenging due to its high nonlinearities, couplings, and external disturbances. In this paper, a Disturbance Observer (DOb)-based linearization of a quadrotor manipulation system is utilized. The DOb estimates the disturbances and nonlinearities, then compensates them such that one can treat the control problem based on a simple linear control algorithm. However, the current developed DOb schemes in the literature are based on the precise measurement of the acceleration or the estimation of the velocity. Unlike, these methods, we propose a modified DOb, which is based on both the measured linear accelerations and angular velocities that can be obtained directly from the onboard Inertial Measurement Unit (IMU) and encoders. With this technique, the estimation of nonlinearities and disturbances are carried out without the need of estimation acceleration or velocity, and it is model free. The Effectiveness of the proposed technique is verified via numerical simulations.

关键词： Acceleration Velocity measurement Angular velocity Manipulators Mathematical model Control systems

来源：评论

学校读者我要写书评

暂无评论

MPC and DOb-based robust optimal control of a new quadrotor manipulation system

MPC and DOb-based robust optimal control of a new quadrotor ...

引用

European Control Conference (ECC)

This paper introduces motion control scheme of a new aerial manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation systems. It is very attractive for a wide range of applications due to their unique features. However, control of such system is quite challenging because it is naturally unstable, has strong nonlinearities and couplings, has fast dynamics, is very susceptible to parameters variations due to carrying a payload besides the external disturbances like wind, and has actuator limitations. A robust optimal linear control scheme is proposed to address these issues. The proposed control scheme is based on a hybrid linear Model Predictive Control (MPC) and linear Disturbance Observer (DOb) techniques. The motivation for using DOb is to provide the robustness against the nonlinearities/uncertainties. In addition, it allows one to solve the control problem relying on a set of linear decoupled SISO system which are not affected by nonlinear/uncertain terms. To deal with the actuators' constraints and achieve an optimal controller efforts, a standard MPC will be used. The resulting control scheme is characterized by a low computational load with respect to conventional nonlinear robust solutions. Stability analysis of the proposed control system is presented. The controller is tested to achieve of a point-to-point task space control, under the effect of picking/placing a payload, changing the operating region, and measurement noise. System simulation is implemented in MATLAB/SIMULINK environment with real system parameters, to better emulate a realistic set up. Simulation results enlighten the effectiveness of the proposed control technique.

关键词： Robustness Control systems Payloads Mathematical model Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

Bayesian perception of touch for control of robot emotion

Bayesian perception of touch for control of robot emotion

引用

International Joint Conference on Neural Networks

作者： Uriel Martinez-Hernandez Adrian Rubio-Solis Tony J. Prescott Institute of Robotics Design and Optimisation School of Mechanical Engineering The University of Leeds UK ACSE Department The University of Sheffield UK Sheffield Robotics Laboratory Department of Psychology The University of Sheffield UK

ISBN: (纸本)9781509006212

In this paper, we present a Bayesian approach for perception of touch and control of robot emotion. Touch is an important sensing modality for the development of social robots, and it is used in this work as stimulus through a human-robot interaction. A Bayesian framework is proposed for perception of various types of touch. This method together with a sequential analysis approach allow the robot to accumulate evidence from the interaction with humans to achieve accurate touch perception for adaptable control of robot emotions. Facial expressions are used to represent the emotions of the iCub humanoid. Emotions in the robotic platform, based on facial expressions, are handled by a control architecture that works with the output from the touch perception process. We validate the accuracy of our system with simulated and real robot touch experiments. Results from this work show that our method is suitable and accurate for perception of touch to control robot emotions, which is essential for the development of sociable robots.

关键词： Robot sensing systems Humanoid robots Skin Bayes methods Sequential analysis Human-robot interaction

来源：评论

学校读者我要写书评

暂无评论

Dynamic Underactuated Flying-Walking (DUCK) Robot

Dynamic Underactuated Flying-Walking (DUCK) Robot

引用

IEEE International Conference on robotics and Automation

作者： Christopher J. Pratt Kam K. Leang DARC (Design Automation Robotics and Control) Lab University of Utah Robotics Center and Department of Mechanical Engineering University of Utah Salt Lake City 84112 United States of America

ISBN: (纸本)9781467380270

This paper describes the development of a flying and walking robot, called the dynamic underactuated flying-walking (DUCK) robot. The DUCK robot combines a high-mobility flying platform, such as a quadcopter (quadrotor helicopter), with passive-dynamic legs to create a versatile system that can fly and walk. One of the advantages of passive-dynamic legs for walking is that additional actuators are not needed for terrestrial locomotion. Herein, a mathematical model is presented and simulations are used to help design a prototype robot. Experimental results demonstrate the feasibility of combining an aerial platform with passive-dynamic legs to create an effective flying and walking robot. In particular, two modes of walking are demonstrated: (1) passive walking down inclined surfaces for low-energy terrestrial locomotion, and (2) active (powered) walking by leveraging the capabilities of the flying platform, where thrust from the quadcopter's rotors enables the DUCK robot to take steps and walk on flat surfaces or up inclined surfaces.

关键词： DUCK low-energy terrestrial

来源：评论

学校读者我要写书评

暂无评论

Dynamic Hybrid Position Force Control using Virtual Internal Model to realize a cutting task by a snake-like robot

Dynamic Hybrid Position Force Control using Virtual Internal...

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Shunsuke Nansai Mohan Rajesh Elara Masami Iwase Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Engineering Product Development Pillar Singapore University of Technology and Design Singapore

ISBN: (纸本)9781509032884

A real snake has simple figure like a string, and has highly adaptability corresponding to the environments/tasks. A snake-like robot mimics such highly adaptability of the real snake, is expected as an adaptable robot corresponding to the environments/tasks. Many literatures have reported with respect to locomotion controls of the snake-like robot, but haven't reported studies for applications. However, enhancement of the applications is required in real scenes of which the snake-like robot is expected to work. This paper reports to design the force controller to realize the cutting task by the snake-like robot, as a leading example of the force control in the real scenes. Since the force control in the feed direction and the servo control in its normal direction are required in order to realize the cutting task, the Dynamic Hybrid Position/Force Control System is designed. The Virtual Internal Model based on the impedance model is utilized as the force control method. The Model Following Servo Control System utilizing the Virtual Internal Model based on the impedance model is designed, and the Dynamic Hybrid Position/Force Control System is realized. Effectiveness of the designed control system is verified through a numerical simulation.

关键词： Robots Mathematical model Force control Force Numerical models Trajectory

来源：评论

学校读者我要写书评

暂无评论

Error Source Identification in Measuring Soft Tissue Stiffness and Self Compensating This Error Using Three Probes Configuration

Error Source Identification in Measuring Soft Tissue Stiffne...

引用

International Conference on Intelligent Systems, Modelling and Simulation (ISMS)

作者： Ahmed Fouly Ahmed M. R. Fath El Bab A. A. Abouelsoud Mohamed N. A. Nasr Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt Department of Production and Design Engineering Minia University Egypt Department of Mechanical Engineering Assiut University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt Department of Mechanical Engineering Alexandria University Egypt Department of Mechanical Engineering American University of Sharjah UAE

ISBN: (纸本)9781509006663

One of the biggest challenges for measuring soft tissue stiffness using tactile sensors is to have an output independent of the contact conditions. Although the approach of using two springs with different stiffness is used, the output of sensor is usually unstable because of the soft tissue surface irregularity. This irregularity creates an inclination angle between the sensor tips and the tissue. By scanning some real organs of a chicken using laser microscope, it is found that the angle value does not exceed 3 degrees. A modification on the original sensor is proposed to compensate that error. A finite element analysis for the two sensors is carried out to compare their behavior. The error of the original approach is about 55% and 103% with an inclination angle 3 degrees on the left and right direction, respectively. However, the modified sensor output is stable up to 8 degrees with an error not exceeding 4%. Furthermore, it could differentiate between different soft tissues stiffness within the specified range.

关键词： Biological tissues Springs Tactile sensors Finite element analysis Force measurement Resonant frequency

来源：评论

学校读者我要写书评

暂无评论

Robotic finger rehabilitation system for stroke patient using surface EMG armband

Robotic finger rehabilitation system for stroke patient usin...

引用

Annual Conference of Industrial Electronics Society

作者： Roberto Oboe Alessandro Tonin Koyo Yu Kouhei Ohnishi Andrea Turolla Department of Management and Engineering Univerisity of Padova Vicenza Italy Laboratory of Kinematics and Robotics Venice Italy Department of Information Engineering University of Padova Padova Italy Department of System Design Engineering Keyo University Kouhoku Yokohama Japan

Several technological solutions have ben recently proposed for fingers rehabilitation in patients who were affected by a stroke, in particular for those who cannot generate the finger force but with preserved sEMG signals. In fact, a very promising approach uses a robot rehabilitation system controlled through sEMG signals. However, this system has two main problems: 1) the placement of electrodes is made manually and this could bring to a non-optimal detection of signals; 2) the cost of treatments is very high, mainly due to the usage of single-use, dispodsable electrodes. Our proposal is to use a robot rehabilitation system with a low-cost armband instead of standard electrodes. The armband has 8 sEMG sensors and a 9-DoF inertial sensor, it has electrically safe setup with low voltage battery and Bluetooth protocol. Moreover it is a very low cost and reusable equipment. The validity of the proposal was confirmed through experiments.

关键词： Electromyography Muscles Sensors Robots Electrodes Calibration Force

来源：评论

学校读者我要写书评

暂无评论

Gait Dynamic Stability Analysis and Motor Control Prediction for varying Terrain Conditions

Gait Dynamic Stability Analysis and Motor Control Prediction...

引用

Europe-Asia Congress on Mechatronics

作者： Imran Mahmood Uriel Martinez-Hernandez Abbas A. Dehghani-Sanij Institute of Design Robotics and Optimisation Department of Mechanical Engineering University of Leeds Leeds LS2 9JT United Kingdom

ISBN: (纸本)9781509017881

This work presents the gait dynamic stability modelling for different walking terrains adopted by the motor. The sensory-motor transitional gait assessment is difficult in clinical environment in case of disorders. The aim of present study was to model and analyse dynamic stability thresholds for gait transitional phases. Experimental data were collected from four healthy subjects while walking on a force platform placed at ramp and level ground walking tracks. The rate-dependent variations in the center of pressure (COP) and ground reaction forces (GRF) were modelled as motor output and input responses. Finite difference and non-linear regression algorithms were implemented to model gait transitions. Dynamic stability estimation for ramp and level ground walking were performed by analysis in time and frequency domains. Our investigation provided interesting results;1) the overdamped motor output response acts as a compensator for instabilities and oscillations in unloading phase and initial contact, and 2) prediction of ramp ascend walking as the least stable gait than ramp descend for healthy subjects.

关键词： dynamic stability gait transient frequency domain ramp walk model

来源：评论

学校读者我要写书评

暂无评论

Dynamic performance of different knee mechanisms with compliant joints

引用

Scientia Iranica 2016年第3期23卷 1055-1063页

作者： Ghaemi, N. Zohoor, H. Ghaemi, H. Department of Mechanical Engineering Babol Noshirvani University of Technology Babol Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology The Academy of Sciences of IR Iran Department of Electrical and Electronics Engineering Mazandaran Institute of Technology Babol Iran

Loss of lower extremities has been one of the main problems in human life. Although most of the available knee devices are aesthetically acceptable, there is a necessity for lighter and more compact mechanisms, especially for younger amputees. This problem can be solved by the combining compliant mechanism design with traditional mechanism design methods. In this study, one group of the prosthetics that is known as the "compliant knee mechanisms" is evaluated. At first, the different knee mechanisms, such as four- and six-bar knee linkages are investigated to calculate the values of the control moments (actuator torque). Then, the suitable location (where the actuator torque is to be exerted) is determined to reduce the knee control moment. Finally, the compliant joints are employed to provide the improved designs. Furthermore, an optimization method is employed to determine the optimum values of stiffness instead of using an experimental technique. The obtained results show that use of the compliant joints in the knee mechanisms reduces the values of the control moments, signi cantly. In fact, the compliant members decrease the peak torques during the stance phase. Therefore, by applying a compliant joint, a higher energy efficiency and lighter knee mechanism can be achieved for ambulation. © 2016 Sharif University of Technology. All rights reserved.

关键词： Mechanisms

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：