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A method to determine the nominal diameter for hip joint with no "pre-wear" data

International Conference on Advancements of Medicine and Health Care through Technology, MEDITECH 2014

作者： Neamţu, Calin Popişter, F. Ghinea, R. Tompa, V. Technical University of Cluj-Napoca Department of Design Engineering and Robotics Romania

ISBN: (纸本)9783319076522

This paper presents a methodology for determining the initial diameter of the explanted hip prosthesis based on scanning/measuring using coordinate measuring machines (CMM) and CAD processing of the obtained data. ISO 14242- 2:2000 shows two methods for determining wear of hip joint: gravimetric and measuring using CMMs. Only the second method (measuring using a CMM) can provide information regarding the position and the geometry of the wear print. Using CMMs to determine the hip joint’s wear with no "prewear" data involves finding the initial diameter of the prosthesis and then comparing the ideal surface with the real one which was determined using the explained scanning procedure. Most times there is no accurate measurement of the prosthesis before implantation to determine the real surface of the prosthesis. The presented methodology involves scanning the sphere so that it can calculate the deviation of the scanned points compared to a theoretical circle determined using CAD or numerical methods (roundness deviation). The scanning of the prosthesis or of a sphere can be done using at least three strategies: one of them offers the possibility of scanning complete circles and the other two only allow the scanning of arcs (½ or ¼ of a complete circle’s circumference). The strategy enables the use of scan points for determine the deviation from circularity. Items that have a significant deviation from the nominal circle are the removed in a CAD program using for this purpose the roundness error map. The remaining points are used to calculate the sphere’s diameter and the center will then be taken as a reference to determine the area of the prosthesis that has wear. © Springer International Publishing Switzerland 2014.

关键词： Coordinate measuring machines

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Unscented Kalman Filter for Position Estimation of UAV by using Image Information

Unscented Kalman Filter for Position Estimation of UAV by us...

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The Society of Instrument and Control Engineers Annual Conference 2015

作者： Swee Ho Tang Takaaki Kojima Toru Namerikawa Che Fai Yeong Eileen Lee Ming Su Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Department of System Design Engineering Keio University Center for AI and Robotics Universiti Teknologi Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia

In this paper, the position estimation problem is solved by using unscented Kalman filter with observation uncertainty’s compensations. These observation uncertainties causing the estimation become inaccurate in position estimate problem. Visual observation is difficult for an unmanned aerial vehicle equipped with only a monocular-vision camera and often results in observation error because of the detected blurred images. A method to weight the observations is proposed in order to improve the position estimation. Simulation is performed using MATLAB and Simulink to verify the proposed method. The simulation result shows that the proposed method can estimate the position accurately.

关键词： UKF EKF UAV Position Estimation

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Application of a modified Genetic Algorithm for enhancing grasp quality on 3D objects

Application of a modified Genetic Algorithm for enhancing gr...

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International Conference on robotics, Automation, Control and Embedded Systems (RACE)

作者： Venkataramani Rakesh Utkarsh Sharma B.P.C. Rao S. Venugopal T. Asokan Robotics & Remote Handling Section Indira Gandhi Centre for Atomic Research (IGCAR) Kalpakkam Tamil Nadu India Department of Engineering Design Indian Institute of Technology Madras Chennai India

Robots are increasingly being inducted to perform a variety of complex handling operations in various industries. In contrast to use of parallel jaw grippers, automated grasping by robot fingers, offer more challenges in synthesis and task planning. In this paper, a meta-heuristic optimization method based on a modified Genetic Algorithm (GA) has been formulated for automated synthesis of high quality grasps. This unique modified GA scheme is applied on initially feasible grasps. The widely used largest ball criterion is employed to calculate the quality of the resulting grasps. The performance of the method is numerically presented by the use of tessellated 3D objects for the implementation of the algorithm. The optimization for these test cases is conducted for both frictional and non-frictional cases.

关键词： Robots Genetic algorithms Optimization Friction Planning Thumb

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Robot control as a service - Towards cloud-based motion planning and control for industrial robots 10

Robot control as a service - Towards cloud-based motion plan...

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10th International Workshop on Robot Motion and Control, RoMoCo 2015

作者： Vick, Axel Vonásek, Vojtěch Pěnička, Robert Krüger, Jörg Department of Industrial Automation Technology Institute for Machine Tools and Factory Management Technische Universität Berlin Pascalstr. 8-9 Berlin10587 Germany Czech Technical University in Prague Faculty of Electrical Engineering Technicka 2 Prague16627 Czech Republic Department of Robotics and Automation Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstr. 8-9 Berlin10587 Germany

ISBN: (纸本)9781479970438

This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on a dedicated PC or on individual virtual machines inside a single computing cluster. The proposed service-based framework was implemented and tested for the motion planning of a robotic manipulator. Effects on control performance, availability and scalability are investigated and documented. © 2015 IEEE.

关键词： Motion planning

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design and Control of a Novel Contactless Active Robotic Joint Using AMB

Design and Control of a Novel Contactless Active Robotic Joi...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Mohamed Selmy Mohamed Fanni Abdelfatah M. Mohamed Faculty of Engineering at Shoubra Benha University Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept. Mansoura University Egypt Electrical Engineering Department Assiut University Egypt

This paper investigates the design, modelling and control of a novel contactless active robotic joint using active magnetic bearing (AMB). A robot with such contactless joint avoids dust generation, oil lubrication and friction. This makes such robot suitable for applications in extreme clean environments such as clean rooms, vacuums chambers and surgery rooms. Also, such joint can be used in space robots, self-reconfiguration robots and robots with selective compliance. Opposite to the passive joint with AMB that needs the control of 5-DOFs, the proposed active robotic joint here needs the control of 6-DOFs. The additional variable to be controlled is the robot joint angle. Frameless, brushless, direct drive, high torque DC motor (BLDC) is used to control the robot joint angle. A contactless sensor for robot joint angle measurement is proposed. The mutual interaction between the control of the BLDC motor and the AMB is studied. Although in this paper tracking control of the rotor roll angle (robot joint angle) and the stabilization of the other 5-DOFs to their null values are carried out, it is possible to carry out tracking control of all the 6-DOFs. This leads to enlarge the mobility of the joint from 1-DOF to 6-DOFs. The proposed system is designed and simulated using CATIA and MATLAB/SIMULINK software. The results prove the feasibility of the proposed robotic joint from design and control view points.

关键词： Joints Rotors Robot sensing systems Payloads Brushless DC motors

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Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on Control Systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis Control systems Real-time systems Robot kinematics Dynamics

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Optimized control of skid steering mobile robot with slip conditions

Optimized control of skid steering mobile robot with slip co...

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

作者： Osama Elshazly Zakarya Zyada Abdelfatah Mohamed Giovanni Muscato Mechatronics and Robotics Engineering Department-School of Innovative Design Engineering Egypt-Japan University of Science and Technology E-JUST New Borg E1 Arab City Alexandria Egypt “On-leave” Mechanical Power Engineering Tanta University Tanta Egypt Mechatronics and Robotics Engineering Department-School of Innovative Design Engineering Assiut University New Borg E1 Arab City Alexandria Egypt (DIEEI) Dipartimento di Ingegneria Elettrica Elettronica e Informatica - Universita degli Studi di Catania Catania Italy

ISBN: (纸本)9781467391085

Application of different optimization techniques for nonlinear controller parameters of a skid steering mobile robot (SSMR) with its inherited slip characteristics is crucial in saving designer's time and effort. In this paper, two computational optimization techniques, particle swarm optimization (PSO) and genetic algorithms (GA), are applied, evaluated and compared to optimize the nonlinear controller parameters of an SSMR moving in a plane. The SSMR controller is designed for tracking a reference robot with the same kinematics. For the purpose of simulation, SSMR kinematics is extended to include slip effects. Simulation programs for both optimization techniques are implemented and the optimized controller parameters are obtained. The system response is examined with the optimized parameters for tracking different trajectories in the presence of different types of disturbances and slip coefficients. Simulation results show better performance of PSO tuning based algorithm than GA one, especially in terms of Mean Square Error (MSE) performance index and computational time.

关键词： Mobile robots Kinematics Genetic algorithms Mathematical model Trajectory Conferences

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Low-cost platform for remote health monitoring and home environment analysis

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International Conference on Advancements of Medicine and Health Care through Technology, MEDITECH 2014

作者： Tompa, V. Hurgoiu, D. Neamţu, C. Technical University of Cluj-Napoca Design Engineering and Robotics Department Cluj-Napoca Romania

ISBN: (纸本)9783319076522

This paper aims to purpose an open, low-cost alternative to the existing health monitoring devices, without compromising key aspects such as accuracy, portability or communication features. Initial testing showed that it is possible to adapt the same features of a dedicated device, while keeping the versatility of a dedicated prototyping platform. Furthermore, the advantages introduced by the third generation LEGO EV3 platform will improve the results, especially for time sensitive measurements like EKG or NIBP. © 2014, Springer International Publishing Switzerland.

关键词： Telemedicine

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Versatile climbing robot for vessels inspection

Versatile climbing robot for vessels inspection

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International Conference on Control, Automation and robotics (ICCAR)

作者： Mohamed G. Alkalla Mohamed A. Fanni Abdel-Fatah Mohamed Prod. Eng. Mechanical Design Dept. Mansoura University Egypt Mechatronics and Robotics Engineering Dept. Egypt-Japan University of Science and Technology (E-JUST) Alexandria Egypt Electrical Engineering Department Assiut University Egypt

This work focuses on proposing and designing a new climbing robot to explore the interiors of industrial vessels and enables a human outside the vessels to implement required regular inspection tasks efficiently. There are two main adhesion systems in the literature: magnetic and air suction systems. The magnetic system climbs surfaces made of ferromagnetic materials only, while air suction system cannot handle irregular surfaces due to possible seals damage. Opposite to previous climbing robots, the proposed robot here can climb and navigate vessels made from different materials besides handling possible irregular surfaces during inspection. Its main task is visual inspection of welds and any critical spots inside these vessels. The novelty of this robot comes from utilizing a hybrid actuation system. This hybrid actuation system consists of upturned propellers fixed on mobile robot and motorized wheels of the mobile robot. The pressure generated from the upturned propellers increase the friction force between the wheels of the mobile robot and the wall. The wheels' motors generate the required torque either to fix the robot in any position or to move it to any place. Since the motion of the robot comes mainly from the motorized wheel, the stability of the system during navigation is guaranteed. Size and topology optimizations are carried out to achieve optimum design of the proposed robot. Simulation results of the designed robot using ADAMS software prove its feasibility.

关键词： Wheels Propellers Force Climbing robots Optimization

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Characterizing the human-robot haptic dyad in robot therapy of stroke survivors

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International Journal of Intelligent Computing and Cybernetics 2014年第3期7卷 267-288页

作者： Dalia De Santis Jacopo Zenzeri Maura Casadio Lorenzo Masia Valentina Squeri Pietro Morasso Robotics Brain and Cognitive Sciences DepartmentIstituto Italiano di TecnologiaGenoaItaly Department of Informatics BioengineeringRobotics and Systems EngineeringUniversity of GenoaGenoaItaly Robotic Research Center Division of Mechatronics&DesignSchool of Mechanical&Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore

Purpose–The working hypothesis,on which this paper is built,is that it is advantageous to look at protocols of robot rehabilitation in the general context of human-robot interaction in haptic *** purpose of this paper is to propose a new method to detect and evaluate an index of active participation(AC index),underlying the performance of robot-assisted *** is important for avoiding the slacking phenomenon that affects robot ***/methodology/approach–The evaluation of the AC index is based on a novel technique of assistance which does not use constant or elastic forces but trains of small force impulses,with amplitude adapted to the level of impairment and a frequency of 2 Hz,which is suggested by recent results in the field of intermittent motor control.A preliminary feasibility test of the proposed method was carried out during a haptic reaching task in the absence of visual feedback,for a group of five stroke patients and an equal group of healthy ***–The AC index appears to be stable and sensitive to training in both populations of ***/value–The main original element of this study is the proposal of the new AC index of voluntary control associated with the new method of pulsed haptic interaction.

关键词： Human-robot haptic interaction Robot therapy Stroke survivors

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