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International Symposium on Micromechatronics and Human science (MHS)

作者： Pei Di Jian Huang Shotaro Nakagawa Kosuke Sekiyama Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Institute for Advanced Research Nagoya University Chikusa-ku Nagoya Japan The Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology China The Faculty of Science and Engineering Meijo University Japan

An intelligent cane robot was designed for aiding the elderly and handicapped people walking. The robot consists of a stick, a group of sensors and an omni-directional basis driven by three Swedish wheels. Multiple sensors were used to recognize the user's “walking intention”, which is quantitatively described by a new concept called intentional direction (ITD). Based on the guidance of filtered ITD, a novel intention-based admittance motion control (IBAC) scheme was proposed for the cane robot. To detect the fall of user, a detection method based on Dubois possibility theory was proposed using the combined sensor information from force sensors, a laser ranger finder (LRF) and an on-shoe load sensor. The human fall model was represented in a two-dimensional space, where the relative position between the center of pressure (COP) and the center of support triangle was utilized as a significant feature. The effectiveness of proposed fall detection method was also confirmed by experiments.

关键词： Legged locomotion Robot sensing systems Senior citizens Artificial intelligence

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Particle swarms with dynamic topologies and conservation of function evaluations 6

Particle swarms with dynamic topologies and conservation of ...

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6th International Conference on Evolutionary Computation Theory and Applications, ECTA 2014, Part of the 6th International Joint Conference on Computational Intelligence, IJCCI 2014

作者： Fernandes, Carlos M. Laredo, Juan L. J. Merelo, Juan Julian Cotta, Carlos Rosa, Agostinho LARSyS: Laboratory for Robotics and Systems in Engineering and Science University of Lisbon Av. Rovisco Pais 1 Lisbon Portugal Faculty of Sciences Technology and Communications University of Luxembourg 6 rue Richard Coudenhove-Kalergi LuxembourgL-1359 Luxembourg Departamento de Arquitectura y Tecnología de Computadores University of Granada C Daniel Saucedo Aranda s/n Granada18071 Spain Universidad de Málaga Campus de Teatinos Malaga29071 Spain

ISBN: (纸本)9789897580529

This paper proposes a general framework for structuring dynamic Particle Swarm populations and uses a conservation of function evaluations strategy to increase the convergence speed. The population structure is constructed by placing the particles on a 2-dimensional grid of nodes, where they interact and move according to simple rules. During the running time of the algorithm, the von Neumann neighborhood is used to decide which particles influence each other when updating their velocity and position. Each particle is updated in each time-step but they are evaluated only if there are other particles in their neighborhood. A set of experiments demonstrates that the dynamics imposed by the structure provides a more consistent and stable behavior throughout the test set when compared to standard topologies, while the conservation of evaluations significantly reduces the convergence speed of the algorithm. Furthermore, the working mechanisms of the proposed structure are very simple and, except for the size of the grid, they do not require parameters and tuning.

关键词： Swarm intelligence

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Investigation of selected mechanical systems by recurrence plots method

Investigation of selected mechanical systems by recurrence p...

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作者： Iwaniec, Joanna Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology in Krakow Mickiewicz Alley 30 30-059 Krakow Poland

Recurrence of states, in the meaning that states are arbitrary close after some time, is a fundamental property of deterministic dynamical systems and is typical of nonlinear or chaotic systems. The main idea of the recurrence plots (RPs) method consists in revealing all the times when the phase space trajectory of the dynamical system visits roughly the same area in the phase space. Such recurrence of states is marked within a two-dimensional matrix with ones and zeros. Graphical representation of such a matrix is known in the literature as a recurrence plot. The paper concerns results of research into dynamic properties and determinism of selected mechanical systems. In order to analyze measured responses (time histories) of the considered systems with the use of the recurrence plots, the phase space of these systems was reconstructed by delay embedding. The smallest sufficient embedding dimensions were estimated with the use of the false nearest neighbors algorithm. For the purposes of time delay determining the method of mutual information function was used. All the necessary computations were performed with the use of the CRP Toolbox for MATLAB. © 2013 World Scientific Publishing Company.

关键词： Chaotic systems

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Adaptive Fuzzy Backstepping Control for Trajectory Tracking of Unmanned Aerial Quadrotor

Adaptive Fuzzy Backstepping Control for Trajectory Tracking ...

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International Conference on Unmanned Aircraft Systems

作者： Fouad Yacef Omar Bouhali Mustapha Hamerlain Productique and Robotics Laboratory Centre for Development of Advanced Technologies (CDTA) Mechatronic Laboratory Faculty of Science and Technology Jijel University

ISBN: (纸本)9781479923779

This paper presents an adaptive fuzzy control strategy to solve the problem of trajectory tracking for quadrotor unmanned aerial vehicle in the presence of model parameters uncertainties and external disturbances. A fuzzy system is employed to approximate directly a model based control law developed using backstepping techniques. The adaptive laws for tuning the adjustable parameters of the fuzzy system are derived based on the Lyapunov theorem. The stability analysis of the designed adaptive fuzzy backstepping controller (AFBC) is shown by the Lyapunov theory. The proposed controller yields asymptotic tracking, robustness in the presence of external disturbances affecting the six degrees of freedom, and parameters uncertainties. It is proved that all signals in the closed-loop system are semiglobally uniformly ultimately bounded, and the tracking error converge to a small neighborhood of the origin. Numerical simulation results are provided to illustrate the good tracking performances of the proposed adaptive control approach.

关键词： Fuzzy systems trajectory tracking six degrees of freedom external disturbance backstepping control Stability analysis Self tuning Backstepping UNMANNED Closed loop systems Fuzzy control law

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Hybrid control strategy for the autonomous transition flight of a fixed-wing aircraft

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IEEE Transactions on Control Systems technology 2013年第6期21卷 2194-2211页

作者： Casau, Pedro Cabecinhas, David Silvestre, Carlos Department of Electrical Engineering and Computer Science Institute for Robotics and Systems in Engineering and Science Universidade Técnica de Lisboa Lisbon 1049-001 Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau 999078 China

This paper develops a hybrid control strategy that provides autonomous transition between hovered and leveled flights to a model-scale fixed-wing aircraft. The aircraft's closed-loop dynamics are described by means of a hybrid automaton with the hover, transition, level, and recovery operating modes, each one corresponding to a different region of the flight envelope. Linear parameter varying control techniques are employed in hover and level, providing robust local stabilization, and a nonlinear locally input-to-state stable controller provides practical reference tracking to the transition operating mode. These controllers, together with an appropriate choice of reference maneuvers, ensure that a transition from hovered flight to level flight, or vice versa, is achieved. Whenever the aircraft state reaches unexpected values, the recovery controller is triggered in order to drive the aircraft toward stable hovered flight, providing a chance to retry the transition maneuver. The controllers' performance and robustness is assessed within a realistic simulation environment in the presence of sensor noise. © 2013 IEEE.

关键词： Fixed wings

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Drum replacement using wavelet filtering

Drum replacement using wavelet filtering

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134th Audio Engineering Society Convention 2013

作者： Barański, Robert Piotrowski, Szymon Plewa, Magdalena AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Mechanics and Vibroacoustics Poland Gdansk University of Technology Gdansk Poland

ISBN: (纸本)9781627485715

The paper presents the solution, which can be used to unify snare drum sound within chosen fragment. The algorithm bases on the wavelet transformation and allows replacement of sub-bands of particular sounds, which are outside certain range. Five experienced sound engineers put the algorithm under the test using samples of 5 different snare drums. Wavelet filtering seems to be useful in terms of drum replacement, while the sound engineers response was in the most of cases positive.

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Art-2 artificial neural networks applications for classification of vibration signals and opera-tional states of wind turbines for intelligent monitoring

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Diagnostyka 2013年第4期14卷 21-26页

作者： Barszcz, Tomasz Bielecki, Andrzej Wójcik, Mateusz Bielecka, Marzena AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics al.Mickiewicza 30 30-059 Cracow Poland AGH University of Science and Technology Faculty of Electrotechnics Automation Computer Science and Biomedical Engineering al. Mickiewicza 30 30-059 Cracow Poland Jagiellonian University Faculty of Physics Astronomy and Applied Computer Science ul. Reymonta 4 30-059 Cracow Poland AGH University of Science and Technology Faculty of Geology Geophysics and Environmental Protectional Mickiewicza 30 30-059 Cracow Poland

In recent years wind energy is the fastest growing branch of the power generation industry. The largest cost for the wind turbine is its maintenance. A common technique to decrease this cost is a remote monitoring based on vibration analysis. Growing number of monitored turbines requires an automated way of support for diagnostic experts. As full fault detection and identification is still a very challenging task, it is necessary to prepare an "early warning" tool, which would focus the attention on cases which are potentially dangerous. There were several attempts to develop such tools, in most cases based on various classification methods. As the ART neural networks are capable to perform efficient classification and to recognize new states when necessary, they seems to be a proper tool for classification of vibration signals of bearing in gears in wind turbines. The verification of ART-2 networks efficiency in this task is the topic of this paper.

关键词： Wind turbines

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Development of an anthropomorphic flute robot for the application in science and technology museum

Development of an anthropomorphic flute robot for the applic...

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IEEE International Conference on robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion Control systems

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Accelerating multi-target tracking by a swarm of mobile robots with network preservation

Accelerating multi-target tracking by a swarm of mobile robo...

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2013 International Conference on Soft Computing and Pattern Recognition, SoCPaR 2013

作者： Hung, Pham Duy Pham, Minh-Trien Vinh, Tran Quang Ngo, Trung Dung Faculty of Electronics and Telecommunication University of Engineering and Technology Hanoi Viet Nam Universiti Brunei Darussalam Faculty of Science More Than One Robotics Laboratory Brunei

ISBN: (纸本)9781479934003

This paper addresses a decentralized control of robot swarm for multi-target tracking with network preservation - namely swarm dispersion algorithm (SDA). The robot swarm moves towards targets while preserving connectivities for networking communication. The developed controller relied on local information of neighboring robots is synthesized by the rules of behavioral control and connectivity maintenance. The swarm dispersion algorithm accelerates the multi-target tracking by minimizing connectivities but preserving an ad-hoc communication network through all the robots. The decentralized control consists of three major functionalities: (1) maintaining connectivities between the robots for swarm movement towards the targets;(2) breaking down triangle and k-connected topologies to accelerate the target reaching;(3) adjusting the robots' velocity to preserve connectivities for an ad-hoc communication network through all the robots. The developed algorithm is demonstrated and verified in simulation. © 2013 IEEE.

关键词： Robots

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The effectiveness of different shapes of homogeneous and 2-part (gradient) piezo elements in Vibration reduction

The effectiveness of different shapes of homogeneous and 2-p...

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20th International Congress on Sound and Vibration 2013, ICSV 2013

作者： Roman, Trojanowski Jerzy, Wiciak AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics al. A. Mickiewicza 30 30-059 Krakow Poland

ISBN: (纸本)9781629931500

The subject of this work is a numerical comparison of piezo elements efficiency in Vibration reduction for different shapes and types of piezo elements. The test objects were a square plates clamped on all sides with piezo elements attached. For each plate the Vibration excitation was obtained with a homogeneous rectangle piezo actuator. For Vibration reduction a different piezo actuator was used with different shape and type for each plate. The shapes used were: circular and rectangular. For each shape there were homogeneous and 2-part (gradient) piezo elements. The 2-part elements consisted (as the name suggests) of 2 parts with different material constants. the inner part is a smaller version of actuator shape with the outer part surrounding it like a frame.

关键词： Actuators

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