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2005 27th Annual International Conference of the engineering in Medicine and Biology Society, IEEE-EMBS 2005

作者： Jafari, Ali Farahmand, Farzam Meghdari, Ali Mechanical Engineering Department Sharif University of Technology Tehran Iran Biomechanics Section Sharif University of Technology Tehran Iran Centre of Excellence of Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)0780387406

Based on the analogy between the B-spline curve modeling and the force-deflection behavior of a beam subjected to lateral point loads, an extension to the B-spline surface modeling method was introduced. The proposed method has strong extrapolating capability and can develop accurate surface models over an incomplete net of data points without affecting the original data. Extrapolation of the incomplete part of the data net Is conducted simultaneously with interpolation of the existing part, with no need to recalculation. Approximation or data smoothing is a natural extension of the method, however, the smoothing intensity can be controlled continuously without reducing the number of spline intervals. The performance of the method was evaluated on some known analytical surfaces and produced more accurate results in comparison with the regular B-spline approach. The results indicate that the proposed method can also filter erroneous data points and reconstruct the original surface successfully. © 2005 IEEE.

关键词： Splines

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Equations of Motion of a Single-Wheel Robot in a Rough Terrain

Equations of Motion of a Single-Wheel Robot in a Rough Terra...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Alasty H. Pendar Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of technology Tehran Iran

In this article, dynamic equations of a single wheel robot, known as Gyrover, through Lagrange method applying a new approach will be addressed. There is no simplification on the dynamic analysis. Considering any possible differentiable function for the road’s curve, the effect of the road’s roughness is completely described in the dynamic equation evaluation. Although there are complicated relations between the wheel and rough terrain, due to the efficient generalized coordinate selection, closed form dynamic equation of the motion is derived. Because of the closed form formulation, required time for simulation will be reduced. From the proposed complete model a simplified model for the controller design could be extracted

关键词： Mobile robots Robot kinematics Wheels Stability robotics and automation Lagrangian functions Differential equations Robot control Motion control Gravity

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Adaptive inverse microstep tracking control of a hybrid stepper motor using RBF and MLP neural networks

Adaptive inverse microstep tracking control of a hybrid step...

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IEEE International Conference on Mechatronics and Automation

作者： Y. Bastani G.R. Vossoughi Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology Tehran Iran

In this paper, a radial basis function neural network-based (RBFNN) adaptive inverse controller for real-time position tracking control of a two phase hybrid stepper motor in microstep mode is presented. To ensure system's robustness and closed loop stability and to improve the performance of the controller, the RBF based adaptive inverse control is combined with a closed loop PID controller. Experimental results are provided for various types of trajectories, comparing the performance of the proposed controller to the same neuro-controller using feed forward back-propagation neural networks (FFBP) proposed previously by the authors. The results show the superior performance of RBFNN over FFBP neural networks. Also the comparison of neuro controllers with a conventional fixed gain stand-alone PID controller show the improvement of the controller performance from 80% up to 99.7% decrease in the mean squared error (MSE) for different trajectories. Trajectories were tracked with the maximum error of 0.02 up to 0.06 degrees. Also the robustness of the method is confirmed through experimental results comparing neuro-controllers and the conventional PID controller by varying the load's inertia and disturbance torques. For this purpose two methods were examined. First using the same neuro-controllers trained by the initial training data and in the second method, neuro-controllers were adapted by new training data according to the new working conditions.

关键词： Programmable control Adaptive control Micromotors Neural networks Control systems Three-term control Robust control Robust stability Training data Adaptive systems

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Robust nonlinear controller for underwater vehicle-manipulator systems

Robust nonlinear controller for underwater vehicle-manipulat...

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

作者： Bin Xu S. Abe N. Sakagami S.R. Pandian Department of Electrical Engineering & Computer Science Tulane University New Orleans LA USA Department of Robotics Ritsumeikan University Japan Department of Marine Design and Engineering Tokai University Shizuoka Japan

In this paper, a robust nonlinear controller is proposed for trajectory tracking of underwater vehicle-manipulator systems (UVMS). The controller is non-adaptive and of sliding mode type, and is designed based on the decentralized form of the dynamics of UVMS. It has the advantages of simplicity, robustness, precise performance, and ease of implementation. In order to demonstrate the effectiveness of the controller, several simulations using a five degrees of freedom UVMS are conducted. The results show that the proposed controller provides high performance of trajectory tracking in the presence of uncertainties about the dynamics and hydrodynamic disturbances

关键词： Robust control Nonlinear control systems Control systems Sliding mode control Trajectory Vehicle dynamics Underwater tracking Robustness Uncertainty Hydrodynamics

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Localization of multiple robots with simple sensors

Localization of multiple robots with simple sensors

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IEEE International Conference on Mechatronics and Automation

作者： M. Peasgood C. Clark J. McPhee Laboratory for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo ONT Canada Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

This paper presents a distributed particle filter algorithm for localizing multiple mobile robots that are equipped only with low cost/low power sensors. This method is applicable to multi-micro robot systems, where size limitations restrict sensor selection (e.g. small infrared range finders). Localization of three robots in a known environment is conducted by combining measurements from a small number of simple range sensors with inter-robot distances obtained through an acoustic range finder system. The localization problem is formulated as estimating the global position and orientation of a single triangle, where corners of the triangle represent the positions of robots. The robot positions relative to the centroid of the triangle are then determined by trilateration using the inter-robot distance measurements. Each robot uses an identical particle filter algorithm to estimate the global position of the triangle. The best estimates determined by each particle filter are distributed among the robots for use in the following iteration. Simulations demonstrate the ability to perform global localization of three robots, each using a compass and two range finders. The results illustrate that this method can globally localize the robot team in a simulated indoor environment The results are compared to simulations where robots have access to only their own sensor data, which are unable to successfully localize under equivalent conditions.

关键词： Robot sensing systems Particle filters Acoustic sensors Sensor systems Infrared sensors Mobile robots Costs Acoustic measurements Distance measurement Indoor environments

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A novel method of biped walking pattern generation with predetermined knee joint motion

A novel method of biped walking pattern generation with pred...

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Ogura, Yu Kataoka, Teruo Shimomura, Kazushi Lim, Hun-Ok Takanishi, Atsuo Grad. Sch. of Sci. and Engineering Waseda University Tokyo Japan Dept. of System Design Engineering Kanagawa Institute of Technology Atsugi Japan Department of Mechanical Engineering Humanoid Robotics Institute Waseda University Tokyo Japan

ISBN: (纸本)0780384636

This paper describes a method of motion pattern generation for biped humanoid robot to walk like humans or walk with various kind of motions. To realize biped walking avoiding singularity at stretching leg, pattern generation uses predetermined knee joint trajectories. Reduction of DOF by predetermination is complemented by waist motion. The effectiveness of generated dynamic walking patterns is confirmed by using a 16-DOF biped robot WABIAN-2/LL.

关键词： Biped locomotion

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An upper bound approach for analysis of hydroforming of sheet metals

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International Journal of engineering, Transactions B: Applications 2004年第4期17卷 389-398页

作者： Assempour, A. Bagherzadeh, M. Emami, M.R. Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Tehran Iran

Considering a kinematical velocity admissible field, the upper bound method has been used for predicting the amount of pressure in hydroforming of sheet metals. The effects of work hardening, friction and blank size have been considered in pressure prediction. Also the effect of sheet thickness variation has been considered in the present work formulations. The relation between pressure and punch stroke has been obtained and optimized by changing the selective parameters in the velocity components. The results for cylindrical and hemispheric parts have been obtained and compared with the published experimental results. The effects of work hardening, friction and blank size on hydroforming pressure have been examined on an elliptical part. Good agreement was found between the experimental and numerical results.

关键词： Sheet metal

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design and real-time experimental implementation of gain scheduling PID fuzzy controller for hybrid stepper motor in micro-step operation

Design and real-time experimental implementation of gain sch...

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International Conference on Mechatronics (ICM)

作者： A.S. Ghafari A. Alasty Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Tehran Iran

In this paper, design and real time experimental implementation of fuzzy gain scheduling of PID controller for hybrid stepper motor in micro-stepping operation is described that was developed to track the desired positioning problem. The control problems characterized by mathematical models exhibit significant nonlinearity and uncertainty. The good performance of proposed fuzzy PID controller is shown.

关键词： Three-term control Fuzzy control Micromotors Open loop systems Fuzzy logic Control nonlinearities Nonlinear control systems Automatic control Control systems Magnetic circuits

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Simulation and experimental study of real-time robust control of hybrid stepper motor with QFT method in micro-step operation

Simulation and experimental study of real-time robust contro...

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International Conference on Mechatronics (ICM)

作者： A.S. Ghafari G.R. Vossoughi Center of Excellence in Design Robotics and Automation Department of Mechanical Engineering Sharif University of Technology Tehran Iran

Real-time linear robust control of a two-phase hybrid stepper motor with quantitative feedback theory method in micro-stepping operation is considered in this paper. Utilizing the phase currents as inputs, linear robust controller is derived for a hybrid stepper motor that achieves robustness to parametric and dynamic uncertainties such as viscous friction, load torque, flux linkage and other uncertainties. Simulation and experimental studies are presented to show the efficiency of the control design approach.

关键词： Robust control Micromotors Reluctance motors Permanent magnet motors Open loop systems Feedback Uncertainty Force control Virtual reality Stators

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Dynamic modeling of a new varying stress SMA actuator for precise applications

Dynamic modeling of a new varying stress SMA actuator for pr...

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International Conference on Mechatronics (ICM)

作者： A. Alasty E. Shameli Center of Excellence in Design Robotics & Automation (CEDRA) Department of Mechanical Engineering Sharif University of Technology Tehran Iran

Shape memory alloys (SMA's) are inherently non-linear devices exhibiting significant hysteresis in their stress strain-temperature characteristic. We have used the variable sub-layer SMA model of Ikuta (1991) to extract the advanced dynamic model of our proposed varying stress SMA actuator. A nonlinear finite element analysis was used to model the proposed bending spring in the actuator and the extended variable sub-laver model of Ikuta was considered to extract stress-displacement relations. Finally, these two models are combined with thermo dynamic model of SMA and a schematic flowchart is proposed to calculate SMA resultant strain under an arbitrary current input. At the end, we applied this model to extract open loop harmonic and step responses of our proposed SMA actuator.

关键词： Stress Actuators Wire Hysteresis Springs Shape memory alloys Temperature robotics and automation Power system modeling design automation

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