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International Carpathian Control Conference (ICCC)

作者： Dorota Marszalik AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Krakow Poland

Haptic device might be used to determination motion trajectory, which can be used in virtual environment or to control other devices with similar kinematics. This task is very often realized in the area, where human appearance is forbidden, or when operator is located at a large distance from it. To facilitate a work of the controlling person, as the terminal of the device may be installed a tool, with which controlled operation will be performed. Generation a resistance force in the haptic device as a feedback allows to create conditions, which are similar to those in the actual performing of operations e.g. feeling a reaction force during contact with the object, touch etc. In this article the structure and kinematics of the haptic Phantom Omni device are presented. Device is communicated with the software created for this purpose. It may be used to determine trajectory of the manipulator motion. In this article the kinematics scheme of the haptic device and equations allowing calculations of the coordinates of the tip mounted tool and its angle in the global coordinate system are placed. Calculations are performed basing on the values of the angles between the arms of the device and coordinates of the haptic interface point. In experiments, setpoint trajectory of the tool tip was measured and compared with the reference trajectory on the plane and in the space. Tracking trajectory errors were calculated.

关键词： Haptic interfaces Trajectory Kinematics Robot kinematics Surgery Equations

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Determination of the probabilistic characteristics of the coefficient of restitution, with an application of acoustic measurements

Determination of the probabilistic characteristics of the co...

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International Carpathian Control Conference (ICCC)

作者： Jerzy Michalczyk Sebastian Pakuła Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

During collisions of bodies a part of the kinetic energy is scattered due to: internal vibrations, plastic strains, crushing of contaminations or surface defects. The remaining part is returned by an elastic interaction of bodies. A coefficient of restitution, understood as the ratio of instant impulses of the second and first collision phase, is used for the collision description. The probabilistic characteristics of the coefficient of restitution are presented in the hereby paper on the basis of experimental data. The experiment was based on recording sound signals emitted when the steel ball struck the plate. Numerous measurements allowed to determine the expected value of the coefficient of restitution and its standard deviation in dependence on the energy flux density during the collision.

关键词： Equations Steel Mathematical model Standards Plastics Strain Velocity measurement

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EU project MORPH: Current status after 3 years of cooperation under and above water 4

EU project MORPH: Current status after 3 years of cooperatio...

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4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2015

作者： Kalwa, J. Pascoal, A. Ridao, P. Birk, A. Glotzbach, T. Brignone, L. Bibuli, M. Alves, J. Silva, M.C. ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics Instituto Superior Técnico Lisbon Portugal Universiat de Girona Girona Spain Jacobs Universität Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Institut Français de Recherche pour l'Exploitation de la Mer La Seyne sur Mer France Consiglio Nazionale delle Ricerche Istituto di Studi Sui Sistemi Intelligenti per l'Automazion Genova Italy NATO Undersea Research Centre La Spezia Italy Instituto do Mar Morta Portugal

The MORPH project (FP 7, 2012-2016) advances a novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that allow a limited flow of information among them. Without rigid links, the so called Morph Supra-Vehicle can reconfigure itself and adapt in response to the shape of the terrain, including walls with negative slope. The MORPH concept requires new concepts in a number of technological fields. Examples are adaptive sensor placement for perception and navigation or environmental modeling in complex environments. As the project enters its final year the basic developments have been achieved. It is still a huge effort to create a system out of components which can be perceived as a supra-vehicle. This paper focuses on a presentation of the current state. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Vehicles

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Conceptual design of BCI in the formal basis of Hierarchical System

Conceptual design of BCI in the formal basis of Hierarchical...

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International Carpathian Control Conference (ICCC)

作者： Kanstantsin Miatliuk Agata Nawrocka Karolina Holewa Department of Automation and Robotics Bialystok University of Technology Bialystok Poland Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

The use of Hierarchical Systems (HS) technology in conceptual design of BCI is proposed in the work. Being biomechatronic by nature BCI system contains, biological (brain), computer, visual informatics (LCD, GUI), electronic (sensors) and executive mechanical (mobile robot) or virtual mechanical (virtual keyboard) subsystems. So, conceptual model of the BCI system being designed should contain connected systemic models of the above subsystems presented in the general formal basis. The BCI system structure, its dynamic presentation as the unit in its environment and BCI environment should be also described in this basis. Inter-level dynamics fulfilled by system-environment (e.g., brain-computer) interactions have to be taken into account by BCI Conceptual Model as well. Traditional models of mathematics and AI do not allow such a description. So, aed model of HS was chosen as theoretical basis of BCI Conceptual Model development in the work. Results of BCI detailed design and testing are also given.

关键词： Robot kinematics Biological system modeling Process control Computational modeling Color Brain modeling

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Corrigendum to `Parallel machine scheduling and common due window assignment with job independent earliness and tardiness costs' [Information sciences, 224 (2013) 109–117]

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Information sciences 2016年 357卷 217-217页

作者： Adam Janiak Władysław Janiak Mikhail Y. Kovalyov Erhan Kozan Erwin Pesch Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 11/17 Janiszewskiego Str. 50-372 Wroclaw Poland Faculty of Computer Science and Management Wroclaw University of Technology 5 Lukasiewicza Str. 50-373 Wroclaw Poland United Institute of Informatics Problems National Academy of Sciences of Belarus Surganova 6 2200120 Minsk Belarus School of Mathematical Sciences QUT GPO Box 2434 Brisbane Qld 4001 Australia Institute of Information Systems University of Siegen 57068 Siegen Germany

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Artificial neural networks for identification in real time of the robot manipulator model parameters

Artificial neural networks for identification in real time o...

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International Carpathian Control Conference (ICCC)

作者： Marcin Nawrocki Agata Nawrocka Faculty of Mechanical Engineering and Robotics Dressing and Transport Machines Krakow Poland Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

In this paper, the manipulator identification process was presented. To identify single-layer neural network with sigmoidal functions that describe individual neurons was used. The main goal was the approximation nonlinearities of manipulator model in real time. It was assumed that the nonlinearity of the manipulator are unknown. The stability of the identification system adopted by the law of the learning network weights generated based on Lyapunov stability theory.

关键词： Mathematical model Manipulator dynamics Neurons Equations Vectors

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Method of structural surface intensity calculation based on frequency response function 7

Method of structural surface intensity calculation based on ...

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7th Forum Acusticum, FA 2014

作者： Bochniak, Wojciech Cieslik, Jacek Pieczara, Janina AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics al. A. Mickiewicza 30 Krakow30-059 Poland Faculty of Civil Engineering Department of Building and Engineering Structures ul. Katowicka 48 Opole45-061 Poland

ISBN: (纸本)9788361402282

The practical aspect of application of structure surface intensity to the analysis of thin-walled structures was the subject of work. Method based on complex modal parameters derived from frequency response function was used. The exactitude of proposed procedure of calculations was analyzed and compared with method based on modal analysis. The example of numerical analysis was done for model of the lightly damped simply supported plate forced to vibrate with harmonic excitation. The numerical model included the source of vibrations in form of force excitation with known position of application and sink of energy with localized damper. Under special interest was the shape of intensity vector field. There were shown the advantage of applied method of modeling in comparison with method based on modal superposition. The results of the numerical calculations allow assessing the spatial distribution of structural intensity vector values on the surface parts and enabled more precise analysis of vibration energy flow. The energy balance done for particular elements the leads to valuable practical conclusions for confinement if the vibration energy flows and lowering of the sound radiation. The method of intensity calculation was intentional to show the utility of structure surface intensity method in discontinuity and damage diagnostics of mechanical constructions.

关键词： Thin walled structures

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Design Methodology of a Micro-Scale 2-DOF Energy Harvesting Device for Low Frequency and Wide Bandwidth

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Journal of Sensor technology 2014年第2期4卷 37-47页

作者： Mahmoud M. Magdy Ahmed M. R. Fath El-Bab Samy F. M. Assal Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Production Engineering and Mechanical Design Department Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Assiut Egypt

A detailed design methodology of a micro-scale 2-DOF energy harvesting device that can harvest human motion energy of low frequency and wide bandwidth is developed. Based on the concept of the 2-DOF vibration absorber, device parameters are selected to harvest energy at low frequency of 1-10 Hz and wide bandwidth with ±20% of the mean frequency, which matches the human motion. The device dimensions are limited to 40 × 30 × 10 mm3 to fit with the human wrist size. Then, a finite element model is developed to investigate the system performance with the selected parameters. When subjected to harmonic excitation of 1 g, the proposed 2-DOF device is able to provide a power of at least 10 μW in between the two close resonant peaks of 4 Hz and 6 Hz, which is the target frequency range. The device shows very high power per square frequency compared with the reported harvesters.

关键词： Energy Harvesting Two Degree of Freedom Low Frequency Wide Bandwidth

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Design Procedure and Simulation of a Novel Multi-Modal Tactile Display Device for Biomedical Applications

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Journal of Sensor technology 2014年第1期4卷 7-17页

作者： Nader A. Mansour Ahmed M. R. Fath El-Bab Mohamed Abdellatif Mechatronics and Robotics Department Egypt-Japan University of Science and Technology (E-JUST) AlexandriaEgypt Mechatronics and Robotics Department Egypt-Japan University of Science and Technology (E-JUST) AlexandriaEgypt Department of Mechanical Engineering Faculty of Engineering Assiut University Assiut Egypt

Tactile display is recently attracting much attention in the field of human computer interaction. There is a strong need for such a device especially for application in which the touch feeling is lost, such as surgeons willing to feel the tissue hardness during laparoscopic surgeries. In this paper, a novel multi-modal tactile display device which can display both surface shape and stiffness of an object is introduced. The conceptual design is built upon using two springs, made of Shape Memory Alloys-SMA, to control both shape and stiffness. The design parameters of this device are selected based on the spatial resolution of human finger and the stiffness range of the soft tissue. The display device is simulated using Finite Element Method, FEM, to study the effect of design parameters on the resulting stiffness. The results showed that the device can display stiffness of an object independent of its shape display. Simulation results confirmed that the stiffness display is stable when applying force by the finger during indentation for feeling stiffness, since the total stiffness error does not exceed 1.2%.

关键词： Tactile Display Stiffness Display Soft Tissues Shape Memory Alloy—SMA Finite Element Analysis

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Study on structure and properties of CuZn40Pb alloy

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IOP Conference Series: Materials science and Engineering 2016年第1期133卷

作者： D C Achiţei M G Minciună P Vizureanu A V Sandu R Cimpoeşu B Istrate Department Technologies and Equipments for Materials Processing Gheorghe Asachi Technical University of Iasi D Mangeron Street no 41A Iasi Center of Excellence Geopolymer & Green Technology (CEGeoGTech) School of Materials Engineering Universiti Malaysia Perlis 01000 Kangar Perlis Malaysia Faculty of Technology Universitas Ubudiyah Indonesia (UUI) JlnAlue Naga DesaTibang Banda Aceh Indonesia Department Materials Science Gheorghe Asachi Technical University of Iaşi D Mangeron Street no 41A Iasi Department of Mechanical Engineering Mechatronics and Robotics Gheorghe Asachi Technical University of Iaşi D Mangeron Street no 41A Iaşi

The paper shows aspects about the behavior of Cu-Zn-Pb alloys a subjected to the temperatures variation and corrosion resistance in saline medium (sea water). The chemical composition was determined by spectral analysis on optical spectrometer, type Foundry Masters. The experiments are completed by a microstructure analysis made on scanning electronic microscope.

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