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作者： Sreekumar, M. Nagarajan, T. Singaperumal, M. Zoppi, M. Molfino, R. Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology Madras Chennai-600 036 India PMARlab - Laboratory of Design and Measurement for Automation and Robotics DIMEC - Department of Mechanics and Machines Design University of Genova Via all'Opera Pia 15 a 16145 Genoa Italy

ISBN: (纸本)9783902661166

Parallel manipulators are best known for their high load carrying capacity, stiffness, fast, accurate positioning etc., compared to their serial counterparts. Lightweight parallel manipulators are typical parallel mechanisms in which the linear-rotary actuators and spherical-rotary joints are replaced by smart actuators and with or without flexure joints. This paper describes about a lightweight miniature parallel manipulator of size 17.5mm dia.x25mm height, made of Beryllium-Copper spring steel and actuated by Shape Memory Alloy (SMA) actuators. The system modelling which includes dynamics and kinematics analysis is briefly described. The possibility of incorporating an Intelligent Fuzzy Controller is investigated. Preliminary simulation results are presented. Copyright © 2006 IFAC.

关键词： Fuzzy control

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Closed-loop finite element modeling for analysis of smart structures in ansys environment

Closed-loop finite element modeling for analysis of smart st...

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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Mahboobi, Seyed Hanif Shahidi, Alireza Abedian, Ali Meghdari, Ali Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran School of Mechanical Engineering Sharif University of Technology Tehran Iran Department of Aerospace Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)0791837904

It would be promising if one can simulate the closed-loop behavior of a smart system in an available FEM software such as "ANSYS". The ANSYS/Multiphysics software has the ability of coupling different physical domains and also modeling smart materials such as piezoelectric and piezoresistives, i.e. it has the capability of modeling smart structures. The dynamic modeling of the controlled structures is then realized by the ANSYS programming tool. This aspect highly facilitates the overall system behavior analysis and at the same time various control methods can be tested without noticing the time consuming structural analysis involved. In this research work, it is tried the mentioned idea to be implemented and some control strategies for the structural active damping to be examined. Copyright © 2006 by ASME.

关键词： Intelligent structures

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Stability enhancement of mobile manipulators via soft computing

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International Journal of Advanced Robotic Systems 2006年第3期3卷 191-198页

作者： Ghaffari, Ali Meghdari, Ali Naderi, Davood Eslami, Sohrab Department of Mechanical Engineering K.N.T. University of Technology No. 322 West Mirdamad Ave. 19697 Tehran Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology Azadi Ave. Tehran Iran Department of Mechanical Engineering Bu Ali-Sina University Hamadan Iran Sharif University of Technology Azadi Ave. Tehran Iran

Nowadays the size and dimension of mobile manipulators have been decreased for being usable in various regions. This leads several problems such as danger of instability. Therefore, many researches have been done to overcome the problem of overturning of a mobile manipulator. In this paper, an algorithm for increasing the stability of a mobile manipulator is presented based on the optimization of a performance index. The path of vehicle and the desired task of the end-effector are predefined. In order to apply the optimal stability criterion, it is more convenient that the manipulator be of a redundant. Considering the interaction between the vehicle and the manipulator and using the genetic algorithm to minimize the stability criterion cooperating with a neural network, the proposed method is a swift algorithm to determine the optimum configuration of the manipulator for real time overturning control of the vehicle. An example for illustrating the significance of the proposed method is presented in a two dimensional configuration.

关键词： Manipulators

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Planning of dynamic compensation manipulator motions for stability enhancement of mobile manipulators by soft computing

Planning of dynamic compensation manipulator motions for sta...

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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Ghaffari, Ali Naderi, Davood Meghdari, Ali Eslami, Sohrab Department of Mechanical Engineering K.N.T. University of Technology Tehran Iran Bu Ali-Sina University Hamadan Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)0791837904

Mobile manipulators are developed in order to execute separately in various regions where there is not possibility for human to appear there. Recently, the size of mobile manipulators has been decreased according to their given tasks. For such systems, the stability issue is very important. The robot system should be able to keep itself in an optimal situation. For reaching to this goal, one can use a redundant degree of freedom for the mobile manipulator such that this redundancy makes it possible to recover the system's stability by dynamic compensatory motion of manipulator when the system is unstable. In this paper, we present an algorithm which is fast enough to stabilize the mobile manipulator with the best stability criterion based on a neural network and genetic algorithm which cooperate together. For applying the optimal values as the algorithm outputs to the appropriate joints, a PD controller is used. The significance of this algorithm is provided for a spatial mobile manipulator with a predefined trajectory of the end-effector and the vehicle. Copyright © 2006 by ASME.

关键词： Mobile robots

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Collision avoidance maneuver for an autonomous vehicle

Collision avoidance maneuver for an autonomous vehicle

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International Workshop on Advanced Motion Control (AMC)

作者： M. Durali G.A. Javid A. Kasaiezadeh Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology Tehran Iran

One of the most important capabilities expected from an autonomous vehicle is avoiding collision with obstacles in its path. For this purpose, autonomous vehicle must be able to perform an emergency maneuver as soon as the obstacle is detected. This paper presents a method for designing and performing an emergency maneuver in order to avoid collision with a fixed or moving obstacle in the path. A sinusoidal or exponential trajectory, which is a function of the relative distance between vehicle and obstacle, is designed as the desired trajectory for lateral motion of the vehicle. A sliding mode controller is designed in order to guarantee that the vehicle tracks that desired trajectory. The method does not have computational difficulties and is appropriate for real time implementations. A virtual test environment for evaluating the performance of the system has been prepared using Matlab/Simulink and ADAMS/Car software. A full vehicle model, validated by experimental tests, is used as the autonomous vehicle model in ADAMS/Car

关键词： Collision avoidance Remotely operated vehicles Mobile robots Mathematical model Vehicle detection design methodology Sliding mode control Trajectory Software testing System testing

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Complete and scalable multi-robot planning in tunnel environments

Complete and scalable multi-robot planning in tunnel environ...

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作者： Peasgood, Mike McPhee, John Clark, Christopher Lab for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo ON N2L 3G1 Canada Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo ON N2L 3G1 Canada

ISBN: (纸本)8587978128

This paper addresses the challenging problem of finding collision- free trajectories for many robots moving to individual goals within a common environment. Most popular algorithms for multi-robot planning manage the complexity of the problem by planning trajectories for robots sequentially, such decoupled methods may fail to and a solution even if one exists. In contrast, this paper describes a multi-phase approach to the planning problem that guarantees a solution by creating and maintaining obstacle-free paths through the environment as required for each robot to reach its goal. Using a topological graph and spanning tree representation of a tunnel or corridor environment, the multi-phase planner is capable of planning trajectories for up to r = L¡1 robots, where the spanning tree includes L leaves. Monte Carlo simulations in a large environment with varying number of robots demonstrate that the algorithm can solve planning problems requiring complex coordination of many robots that cannot be solved with a decoupled approach, and is scalable with complexity linear in the number of robots.

关键词： Motion planning

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design OF SMA ACTUATED LIGHT WEIGHT PARALLEL MANIPULATOR WITH INTELLIGENT CONTROLLER

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IFAC Proceedings Volumes 2006年第15期39卷 310-315页

作者： M. Sreekumar T. Nagarajan M. Singaperumal M. Zoppi R. Molfino Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology Madras Chennai-600 036 India PMARlab — Laboratory of Design and Measurement for Automation and Robotics DIMEC — Department of Mechanics and Machines Design University of Genova Via all 'Opera Pia 15 a — 16145 Genoa Italy

关键词： Actuators Adaptive Control Artificial Intelligence Fuzzy Control Nonlinearity Robotic Manipulators

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COMPLETE AND SCALABLE MULTI-ROBOT PLANNING IN TUNNEL ENVIRONMENTS

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IFAC Proceedings Volumes 2006年第20期39卷 26-31页

作者： Mike Peasgood John McPhee Christopher Clark Lab for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo Ontario Canada N2L 3G1 Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo Ontario Canada N2L 3G1

This paper addresses the challenging problem of finding collision-free trajectories for many robots moving to individual goals within a common environment. Most popular algorithms for multi-robot planning manage the complexity of the problem by planning trajectories for robots sequentially; such decoupled methods may fail to find a solution even if one exists. In contrast, this paper describes a multi-phase approach to the planning problem that guarantees a solution by creating and maintaining obstacle-free paths through the environment as required for each robot to reach its goal. Using a topological graph and spanning tree representation of a tunnel or corridor environment, the multi-phase planner is capable of planning trajectories for up to r = L – 1 robots, where the spanning tree includes L leaves. Monte Carlo simulations in a large environment with varying number of robots demonstrate that the algorithm can solve planning problems requiring complex coordination of many robots that cannot be solved with a decoupled approach, and is scalable with complexity linear in the number of robots.

关键词： mobile robots efficient algorithms path planning trajectory planning

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Development of ADLER: The Activities of Daily Living Exercise Robot

Development of ADLER: The Activities of Daily Living Exercis...

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

作者： M.J. Johnson K.J. Wisneski J. Anderson D. Nathan R.O. Smith Department of Biomedical Engineering Olin Engineering Center Marquette University Milwaukee WI USA Department of Physical Medicine & Rehabilitation Medical College Milwaukee WI USA Rehabilitation Robotics Research and Design Laboratory Medical College Milwaukee WI USA Rehabilitation Research Design and Disability Laboratory University of Wisconsin Milwaukee Milwaukee WI USA

Robot-assisted therapy devices are being used in the physical and neurological rehabilitation of persons after stroke, which is the leading cause of disability among adults in the United States. Motor gains after robot-assisted therapy may not transfer to functioning on activities of daily living. It is conceivable that carryover after training may be improved through the use of training activities that are patient-centered, engaging and focused on daily living activities. We have developed the activities of daily living exercise robot (ADLER) stroke training environment to test this idea. This environment permits the consistent and repeated practice of daily living tasks such as drinking. This paper describes the ADLER training system

关键词： Robots Rehabilitation robotics Medical treatment Medical robotics robotics and automation Educational institutions Biomedical engineering Orbital robotics design engineering Testing

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Assessing Impaired Arm Use and Learned Bias after Stroke Using Unimanual and Bimanual Steering Tasks

Assessing Impaired Arm Use and Learned Bias after Stroke Usi...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Ruta P. Paranjape Michelle. J. Johnson Brinda Ramachandran Department of Biomedical Engineering Marquette University Milwaukee WI USA Rehabilitation Robotics Research and Design Lab Zablocki VA Medical Center Milwaukee WI USA Department of Physical Medicine and Rehabilitation Medical College Milwaukee WI USA

Learned nonuse is often seen in stroke survivors with hemiparesis. In these cases, stroke survivors exhibit a bias for using the less impaired arm on daily living tasks despite latent functionality as measured by clinical motor function. We used the TheraDrive system, a low-cost, stroke rehabilitation system using commercial force-feedback steering wheels along with unimanual and bimanual steering tasks, to quantify the motor impairment, arm use bias and the effect of functioning levels on tracking performance. We present the methodology and tracking results that support the use of steering tasks to detect the presence of motor impairment in the contralateral side of the brain injury, the presence of learned nonuse, the relationship between level of functionality (low-to-medium versus high stroke) and these measures and the effect of handedness and side of injury after stroke

关键词： Wheels Rehabilitation robotics Biomedical measurements Brain injuries Medical treatment Biomedical engineering Accelerometers Time measurement Feedback Cities and towns

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