检索结果-内蒙古大学图书馆

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： M. Kaneko T. Nishihara Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan

Three-axis force sensors based on the principle of the pressure pick-up device are characterized by their manufacturability, simple structure, and miniature size. Their use, however, has not been explored due to the insufficient force information they provide. To make the most of the three-axis force sensor, the authors have proposed a new six-axis force sensors composed of two three-axis force sensors and a connector [twin-head (TH) six-axis force sensor] and examined the possibility of realization for sensors using two identical three-axis force sensors. This paper discusses TH force sensors constructed from two different types of three-axis sensors. While fifteen types of combinations are theoretically conceivable, it is proved that nine types can result in a characteristic matrix with full rank.

关键词： Force sensors Sensor phenomena and characterization Joining processes Robot sensing systems Sensor systems Connectors Force measurement Force control computer science systems engineering and theory

来源：评论

学校读者我要写书评

暂无评论

A new design of six-axis force sensors

A new design of six-axis force sensors

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： M. Kaneko Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan

A six-axis force sensor composed of two identical three-axis force sensors and a connector (Twin-Head, or TH, force sensor for short) is proposed. The theoretical basis for the operation of TH force sensors is described, and the characteristic matrix connecting the load and sensor output vectors is given. While six types of three-axis sensor are theoretically conceivable, it is proved that the only one type can result in a characteristic matrix of full rank. To make the best use of a commercially available three-axis sensor, a semi-TH force sensor, which has a connector with an additional sensing axis to give the characteristic matrix full rank, is also proposed. A semi-TH force sensor designed in this way is demonstrated.< >

关键词： Force sensors Sensor phenomena and characterization Connectors Robot sensing systems Joining processes Sensor systems Force measurement Force control Manufacturing computer science

来源：评论

学校读者我要写书评

暂无评论

Stability analysis to a fuzzy control system of a superconducting actuator including two nonlinear blocks

Stability analysis to a fuzzy control system of a supercondu...

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： T. Kitamura M. Komori Kyushu Institute of Technology College of Computer Science and System Engineering Fukuoka Japan

The stability of a fuzzy control system of a high-T/sub c/ superconducting actuator is analyzed. The control system has two nonlinear blocks, due to a hysteretic force-displacement relation of the actuator and due to the fuzzy proportional-derivative (PD) controller. The control system is shown to be an equivalent to a two-variable Lurie system. A sufficient condition of asymptotic stability for the PD gains is obtained by applying stability theory to a multivariable Lurie system.< >

关键词： Stability analysis Fuzzy control PD control Control systems Actuators Force control Nonlinear control systems Proportional control Asymptotic stability Hysteresis

来源：评论

学校读者我要写书评

暂无评论

Unitary EPSPs evoked by visual stimuli and spatial distribution of activated synapses in tectal neurons of the frog

Unitary EPSPs evoked by visual stimuli and spatial distribut...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： T. Sugihara N. Matsumoto Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

Using intracellular recording techniques, we recorded the responses of tectal neurons of the frog to moving visual configurations. Most of the responses sampled in this experiment originated from class 3 retinal ganglion cells. We classified EPSPs according to their shapes into two quantitative criterions, rise time and peak amplitude. Rise time histograms for observed EPSPs had a single peak. This implies the localization of activated synapses, which is consistent with the morphological findings in frog's optic tectum. Amplitude histograms had several peaks which are regularly spaced by 0.3 to 0.6 mV. Through such examination, we successfully identified unitary EPSPs evoked by class 3 retinal fibers. We also observed unitary IPSPs in the same manner. These results were mainly obtained from responses elicited by manual movement of black cardboard. In the experiment where a computer controlled stimulus (a moving light slit) was used, the relationship between the position of the stimulus and rise time of EPSPs was examined.

关键词： Retina Optical recording Histograms Neurons Information processing Microelectrodes Shape Time measurement Visual system Animals

来源：评论

学校读者我要写书评

暂无评论

Generation of technical illustration from description of machines

Generation of technical illustration from description of mac...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： N. Abe T. Shingoh Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

Technical illustrations (TI) are always drawn in any assembly manual. This means that a TI is more informative than instruction in assembly tasks. Without TI, we have to read assembly instructions, it is difficult to infer a correct assembling procedure, if they explain several types of assembly relations. Even a novice can assemble or disassemble mechanical parts by only seeing a TI. But the order of assembly/disassembly is not uniquely obtained from a TI, knowledge on assembling operation will limit the order to plausible one. An assembly task is successfully divided into several easier assembly tasks than the original one. This means that a TI is composed of a set of TIs which are small and easy subassembly tasks.< >

关键词： Assembly systems Robotic assembly Manuals Fasteners computer science systems engineering and theory Visualization Shape Surface treatment Conferences

来源：评论

学校读者我要写书评

暂无评论

Acquiring 3 dimensional models of mechanical object from technical illustrations

Acquiring 3 dimensional models of mechanical object from tec...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： N. Abe I. Ohno Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

Technical illustrations (TI) are one of the main methods to show a way to assemble/disassemble a mechanical assembly. The information including not only the shape of a constituent and an order of operations necessary to assemble/disassemble it can be driven from a single TI. However an additional TI is often required to further supplement insufficient information obtained from the single TI. The paper shows the solution required to resolve the problem which arises in augmenting a model description by unifying the results obtained from several TIs.< >

关键词： Robotic assembly Education Educational robots Assembly systems Grasping computer science systems engineering and theory Shape computer vision Virtual reality

来源：评论

学校读者我要写书评

暂无评论

Assembly instruction manual understanding by fusing natural language understanding and technical illustration understanding

Assembly instruction manual understanding by fusing natural ...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： N. Abe K. Uemura Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

This research aims to understand an assembly instruction manual by fusing the result obtained from understanding technical illustrations (TIU) and that obtained from understanding instructions (IU). In the first versi... 详细信息

关键词： Assembly Manuals Natural languages Shape Wrist Yarn Hydrogen

来源：评论

学校读者我要写书评

暂无评论

Digital Adaptive Control of Rotary system with Unknown Nonlinear Friction

引用

IFAC Proceedings Volumes 1993年第2期26卷 81-84页

作者： S. Sagara F. Ohkawa T. Yamashita M. Tomizuka Department of Control Engineering Faculty of Engineering Kyushu Institute of Technology Tobata Kitakyushu 804 Japan Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Japan Department of Mechanical Engineering University of California Berkeley Berkeley CA 94720 USA

This paper is concerned with the design of a discrete time Model Reference Adaptive Control system (WACS) for motion control under unknown nonlinear friction. Static and Coulomb friction forces are represented by a deadzone element for the input, which is active at low velocities. and disturbance. which may take different values depending on the motion direction. respectively. Then, the WAes for the nonlinear friction is a cascade combination of a nonlinear block which contains the deadzone and the disturbance term and a linear dynamic block. Experimental results from a rotary servo system demonstrate the effectiveness of the proposed WAeS

关键词： Model reference adaptive control Nonlinear friction Rotary system Servomechanisms

来源：评论

学校读者我要写书评

暂无评论

A study on a method of dividing machine-parts into functional groups for technical illustrations

A study on a method of dividing machine-parts into functiona...

引用

International Conference on Document Analysis and Recognition

作者： I. Lee S. Dan T. Kitahashi N. Abe ISIR-Sanken Osaka University Osaka Ibaraki Japan Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Lizuka Japan

The authors previously presented a computer generation method of technical illustrations of a machine from its CAD model. However, parts of complicated structures in a machine are more comprehensible when they are expressed in the form of TIs which consist of several illustrations representing functional subgroups of a machine than in a picture containing the total massive structures. There arises a problem of how to divide a machine into functional parts. The authors attempt to provide an answer to it by means of processing a specific graph derived from a CAD model of a given machine. The authors propose a method based on a directed graph representing a few structural aspects of a machine. The graph represents two kinds of relations, namely inserting a part to another part and connecting parts by a gear, by directional arcs, and also the shapes of parts by distinguishably shaped nodes. The basic idea is to describe a kind of semantics by structural features of a machine in a symbolic way based on the above-mentioned mechanical relations and the shapes of parts reflecting functions of parts.< >

关键词： Shape Gears Machinery computer science Production facilities Manuals computer aided manufacturing Partitioning algorithms Joining processes Shafts

来源：评论

学校读者我要写书评

暂无评论

Dynamic control approach for motion coordination of multiple wheeled mobile robots transporting a single object

Dynamic control approach for motion coordination of multiple...

引用

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS '93)

作者： M. Hashimoto F. Oba T. Eguchi Division of Machine Design Engineering Faculty of Engineering Hiroshima University Higashihiroshima Hiroshima Japan Department of Mechanical Systems Faculty of Computer Science Kyushu Institute of Technology Fukuoka Japan

This paper proposes a coordinate dynamic control method for the transfer of a common heavy object by several wheeled mobile robots. The coupler, which comprises an active prismatic link and a passive rotary joint, is installed on each robot so that even an ordinary nonholomonic mobile robot with inferior mobility can correctly manipulate the object. A hierarchical coordinative control system composed of a leader and other staff robots is designed to synchronously control the motions of the robots under severe dynamic interactions. The leader robot successively defines the desired motion of the object along its reference trajectory and broadcasts the information to the staff robots. Each staff robot controls the motions of its own body and the onboard prismatic link so as to achieve the desired object behavior without sideways slippages. When the prismatic link approaches the limit for its movement, the staff robot requests the leader to temporarily modify the desired behavior of the object. The control algorithm is formulated on the basis of the kinematics and the dynamics of the wheeled mobile robot. Simulation results illustrate the validity of the method.

关键词： Motion control Mobile robots Robot kinematics Robotics and automation Manipulator dynamics Wheels Transportation Design engineering Conducting materials Manufacturing automation

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：