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IEEE International Conference on Industrial Technology (ICIT)

作者： Mohamed S. Raessa Mohamed Fanni Abdelfatah M. Mohamed Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept. Mansoura University Egypt

ISBN: (纸本)9781467380768

Transferring humans while carrying loads on all types of terrains efficiently using compact means of transportation is still a challenge. This may be due to the unstructured areas humans need to move through, or due to traffic congestions in structured roads. Some compact-size, light-weight transportation systems have been developed but they provide only a partial solution to the stated problem. This paper presents the dynamics analysis and control of a novel all-terrains wearable vehicle, a new transportation means consisting of a lower extremity exoskeleton carrying two motorized wheels and two free wheels. On flat free ground, this novel system utilizes its wheels to travel fast and when faced with crowded traffic or unstructured area, the human just switches into walking mode. CAD models of the human and the wearable vehicle are developed, and a dynamic human walker is built in MSC ADAMS and is used for proving the feasibility the proposed wearable vehicle in its two modes of operation. PD controller with gravity compensation is designed to ensure that the wearable vehicle is tracking the human motion in the walking mode, and the results obtained show the effectiveness of the controller, the vehicle dynamics are also studied, and the critical acceleration safety margins are defined.

关键词： Vehicles Legged locomotion Exoskeletons Solid modeling Wheels Acceleration Vehicle dynamics

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Optimal design of parallel manipulators based on their dynamic performance 14

Optimal design of parallel manipulators based on their dynam...

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14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Kilaru, Jagadeesh Karnam, Murali K. Agarwal, Saurav Bandyopadhyay, Sandipan Robotics Laboratory Department of Engineering Design Indian Institute of Technology Madras TN600036 India

ISBN: (纸本)9789860460988

This paper presents an approach for the design of parallel manipulators, from the perspective of optimal dynamic performance over a given safe working zone. It is shown that no single index is sufficient to fully quantify the dynamic performance of such a system. Two different indices are therefore developed from the study of the generic equation of motion of such systems. The resulting bi-objective optimisation problem is solved using a genetic algorithm-based numerical optimiser, namely, NSGA-II. The proposed algorithm is applied to an existing planar 3-RRR parallel manipulator, to obtain an improved design. It is found that the improved design, though obtained by optimising the intrinsic performance indices, perform better in terms of extrinsic dynamic indices, such as the required torque for tracking a set of given trajectories.

关键词： Genetic algorithms

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Control laws development for a free-flying unmanned robotic system to support interplanetary bodies prospecting and characterization missions

Control laws development for a free-flying unmanned robotic ...

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AIAA Guidance, Navigation, and Control Conference, 2016

作者： Perez, Andres E. Moncayo, Hever Prazenica, Richard J. Zacny, Kris Mueller, Robert P. Ebert, Tom Dupuis, Michael Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Aerospace Engineering Department Embry-Riddle Aeronautical University Daytona BeachFL32114 United States Exploration Technology Group Honneybee Robotics Company CA United States Exploration Research and Technology Programs Science and Technology Projects Division NASA Kennedy Space Center FL United States Autonomous Flight Systems Lead Testing and Design Branch NASA Kennedy Space Center FL United States Robotics and Autonomous Systems Testing and Design Branch NASA Kennedy Space Center FL United States

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

In situ Resource Utilization (ISRU) facilitates planetary exploration by drawing needed resources, such as water, from the local environment. However, the extreme nature of these environments require the development of advanced unmanned space systems integrated with sample-capture devices to achieve the ultimate goal of prospecting these resources. This paper presents the design, development and Hardware-in-the-Loop (HIL) simulation testing of guidance and tracking control laws for an autonomous small marsupial free-flyer prospector system. The control laws are based on an extended non-linear dynamic inversion (NLDI) approach and its implementation is illustrated through HIL simulation using a mathematical model of an autonomous vehicle research platform developed by NASA Kennedy Space Center. This vehicle has been designed to support the development, testing and validation of algorithms for safe, reliable, and scalable control space missions with minimal need for human intervention in complex, unstructured environments. The main objective of the control laws is to minimize 3-axis distances with respect to a desired trajectory and maintain stability and adequate performance in the presence of uncertainties. The performance of the control laws is evaluated during autonomous flight in terms of trajectory tracking errors, real-time execution on board the flight computer, and control activity at nominal and dynamically-changing conditions. The results show that for all mission cases investigated the control laws approach has desirable capabilities and is reliable for in-flight testing operation as a next step towards the validation and verification of this configuration. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hardware-in-the-loop simulation

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Leader-following consensus of multi-agent systems under hierarchical nearly cyclic pursuit

Leader-following consensus of multi-agent systems under hier...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Muhammad Iqbal John Leth Trung-Dung Ngo More-Than-One Robotics Laboratory University of Brunei Darussalam Brunei Darussalam Department of Electronic Systems Aalborg University School of Sustainable Design Engineering University of Prince Edward Island Canada

ISBN: (纸本)9781509020669

In this paper, we solve the leader-following consensus problem using nearly cyclic pursuit (NCP) and a two-layer hierarchical nearly cyclic pursuit (HNCP). First, we design a control strategy based on the nearly cyclic pursuit(NCP) to enable the agents to rendezvous at a point. Second, we propose a two-layer HNCP for a leader-following consensus problem to increase the convergence rate of the network. We show that the two-layer HNCP outperforms the original NCP. Simulations illustrate the key theoretical results.

关键词： Eigenvalues and eigenfunctions Multi-agent systems Convergence Kinematics Trajectory Indexes Conferences

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Numerical study of material properties, residual stress and crack development in sintered silver nano-layers on silicon substrate

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Scientia Iranica 2016年第3期23卷 1037-1047页

作者： Keikhaie, M. Movahhedy, M.R. Akbari, J. Alemohammad, H. Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology P.O. Box 14588-89694 Tehran Iran Department of Mechanical and Mechatronics Engineering University of Waterloo 200 University Ave West WaterlooONN2L 3G1 Canada

In order to improve the performance of thin film devices, it is necessary to characterize their mechanical, as well as electrical, properties. In this work, a model is developed for analysis of the mechanical and electrical properties and the prediction of residual stresses in thin films of silver nanoparticles deposited on silicon substrates. The model is based on inter-particle diffusion modeling and finite element analysis. Through simulation of the sintering process, it is shown how the geometry, density, and electrical resistance of the thin film layers are changed by sintering conditions. The model is also used to approximate the values of Young's modulus and the generated residual stresses in the thin film in the absence and presence of cracks in the film. The results are validated through comparing them with available experimental data. © 2016 Sharif University of Technology. All rights reserved.

关键词： Thin films

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A novel approach to gait synchronization and transition for reconfigurable walking platforms

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Digital Communications and Networks 2015年第2期1卷 141-151页

作者： Shunsuke Nansai Nicolas Rojas Mohan Rajesh Elara Ricardo Sosa Masami Iwase Department of Advanced Multidisciplinary Engineering Tokyo Denki University Department of Mechanical Engineering and Materials Science Yale University Engineering Product Development Pillar Singapore University of Technology and Design Department of Robotics and Mechatronics Tokyo Denki University

Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple control schemes. An essential consideration in these reconfigurable legged robots is to attain stability in motion, at rest as well as while transforming from one configuration to another with the minimum number of legs as long as the full range of their walking patterns, resulting from the different gait cycles of their legs, is achieved. To this end, in this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. The approach is exemplified in a four-legged robot with reconfigurable Jansen legs capable of generating up to six useful different gait cycles. The proposed technique is validated through simulated results that show the platform's stability across its six feasible walking patterns and during gait transition phases, thus considerably extending the capabilities of the non-reconfigurable design.

关键词： Legged robot Static stability Reconfigurable mechanism Jansen mechanism Walking platform

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design and fuzzy control of a robotic gripper for efficient strawberry harvesting

Design and fuzzy control of a robotic gripper for efficient ...

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作者： Dimeas, Fotios Sako, Dhionis V. Moulianitis, Vassilis C. Aspragathos, Nikos A. Robotics Group Department of Mechanical Engineering and Aeronautics University of Patras Patras26504 Greece Department of Product and Systems Design Engineering University of the Aegean Syros84100 Greece

Strawberry is a very delicate fruit that requires special treatment during harvesting. A hierarchical control scheme is proposed based on a fuzzy controller for the force regulation of the gripper and proper grasping criteria, that can detect misplaced strawberries on the gripper or uneven distribution of forces. The design of the gripper and the controller are based on conducted experiments to measure the maximum gripping force and the required detachment force under a variety of detachment techniques. It is demonstrated that the hand motion for detaching the fruit from the stem has a significant role in the process because it can reduce the required force. By analysing those results a robotic gripper with pressure profile sensors is developed that demonstrates an efficiency comparable to the human hand for strawberry grasping. The designed gripper and fuzzy controller performance is tested with a considerable number of fresh fruits to demonstrate the effectiveness to the uncertainties of strawberry grasping. © 2014 Cambridge University Press.

关键词： Grippers

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Analysis of Difference in Center-of-Pressure Positions between Experts and Novices during Asymmetric Lifting

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IEEE Journal of Translational engineering in Health and Medicine 2016年 4卷 2100311页

作者： Jeong, Hieyong Yamada, Kenji Kido, Michiko Okada, Shima Nomura, Taishin Ohno, Yuko Department of Robotics and Design for Innovative Healthcare Graduate School of Medicine Osaka University Osaka565-0871 Japan Division of Health Sciences Graduate School of Medicine Osaka University Osaka565-0871 Japan Department of Mechanical Engineering Graduate School of Engineering Kindai University Osaka577-8502 Japan Department of Mechanical Science and Bioengineering Graduate School of Engineering Science Osaka University Osaka560-0043 Japan

Although numerous studies have analyzed the relationship between manual material handling (MMH) and the forces acting on the lumbar spine, the difference in the MMH between experts and novices through the analysis of measured data has not been well studied. The purpose of this paper was to analyze the difference in the MMH positions between ten skilled experts working at a freight transport company (Group 1) and five unskilled novices without any experience (Group 2) during asymmetric lifting. All the human subjects performed asymmetric lifting experiments with closed eyes;the experiments involved moving loads (6 and 18 kg) to the left side. Time series data of the vertical ground reaction force were measured, using a Wii Balance Board, and then, the center-of-pressure (CoP) trajectories were calculated. The balance board was used for the measurement, because it was reliable, inexpensive, and portable and provided good repeatability even on rough surfaces, and all the information pertaining to the load and worker under various conditions was captured without any omissions. Under the 18 kg load condition, the CoP positions for Group 2 were located on the same side during left asymmetric lifting;however, those for Group 1 were located on the opposite side during left asymmetric lifting ( P © 2013 IEEE.

关键词： Biophysics

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Stewart Platform Manipulator: State Estimation Using Inertia Sensors and Unscented Kalman Filter

Stewart Platform Manipulator: State Estimation Using Inertia...

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International Conference on Information Science and Control engineering (ICISCE)

作者： Shady A. Maged A. A. Abouelsoud Ahmed M. R. Fath El Bab Toru Namerikawa Mechatronics and Robotics Eng. Dept Egypt Japan University of Science and Technology New Borg ElArab Alexandria Egypt Electronics and Communications Eng. Dept Cairo University Egypt Mechanical Engineering Department Assiut University Assiut Egypt Department of System Design Engineering Keio University Yokohama Japan

ISBN: (纸本)9781509025367

This manuscript presents the estimation of both position and velocity of Stewart manipulator using leg length measurements and MEMS inertial sensors. The estimation by using Unscented Kalman Filter (UKF) is based on the combination of different sensors. UKF is used as a nonlinear state estimator to the Stewart platform which is modeled as a stochastic differential equation due to measurement noise. The experimental results of the UKF are verified on the Stewart platform DELTALAB EX800 using LABVIEW real time software. The desired trajectories are compared with the estimated states (position and orientation) obtained using UKF. Moreover, the estimated leg lengths are compared with the real measured output from the potentiometer sensors of the six legs of the parallel manipulator. The experimental results show that the estimation error is bounded with small bound depending on the covariance matrices. This proves the effectiveness of the proposed Unscented Kalman Filter (UKF) as a nonlinear estimator with integration between inertial sensors and leg potentiometers.

关键词： Legged locomotion Manipulators Sensors Kalman filters Trajectory Potentiometers

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Linearized PID control in a nonlinear model of an active hydromagnetic journal bearing

Linearized PID control in a nonlinear model of an active hyd...

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作者： Farmakopoulos, Michael G Thanou, Michalis D Nikolakopoulos, Pantelis G Papadopoulos, Chris A Tzes, Anthony P Machine Design Laboratory Department of Mechanical Engineering and Aeronautics University of Patras Patras26504 Greece Automation and Robotics Laboratory Electrical and Computer Engineering Department University of Patras Patras Greece

A proportional-integral-derivative (PID) control model of an active hydromagnetic journal bearing (AHJB) is presented here and its design guidelines are explicitly described. The nonlinear rotor equations of motion, is introduced. Then, the linearization of these equations in the bearing specific equilibrium point is performed and presented along with the appropriate PID gains. Consequentially, the linear equation is transformed via Laplace method and the control model of the AHJB is finally developed. The multiphysics module of Ansys is used to calculate the forces that the hydrodynamic lubrication applies to the rotor, in every position of the rotor, during its movement inside the bearing. This has been done, in order not to have linear equations of the hydrodynamic forces, but the real, nonlinear equations. The nonlinear equations are used for the electromagnetic forces too. The Matlab software is used to simulate the components that the AHJB is consisted of. The P, I, and D gains are the obtained results of this simulations, which are produced via robust control method, in single-input-single-output tool module. Finally, the Simulink module of Matlab is energized to check the control characteristics of the developed AHJB system, taking into account the nonlinear equations of motion of the system, in combination with the rotor unbalance and gyroscopic effects and the saturation of the coils. The rotor response, the overshoot, the rotor center vibration are controlled using the above produced P, I, and D gains. Several plots are constructed and presented, such as the rotor orbits, to show the possibility of the AHJB control. © 2014 IMechE.

关键词： Simulink

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