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International Carpathian Control Conference (ICCC)

作者： Andrzej Kot Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9781467344883

The paper presents first approach to modeling of the biaxial inverted pendulum. This model was determined mathematically using the Lagrange equations based on knowledge of the potential and kinetic energy of the cart and placed on the pendulum. It also presents a non-linear model of a biaxial inverted pendulum built in Matlabs SimMechanics toolbox. Then the Matlab linearized model was compared with the linearized model obtained by means of the mathematical calculations.

关键词： Mathematical model Equations MATLAB Vectors Force Analytical models

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Brain - Computer Interface based on Steady - State Visual Evoked Potentials (SSVEP)

Brain - Computer Interface based on Steady - State Visual Ev...

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International Carpathian Control Conference

作者： Agata Nawrocka Karolina Holewa AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781467344883

The paper describes a virtual keyboard based on a brain - computer interface, controlled by Steady - State Visual Evoked Potentials (SSVEP). Steady-State Visual Evoked Potentials are natural responses when the retina is excited by a visual stimulus ranging from 3.5 Hz to 75 Hz. The SSVEPs are characterized by an increase in EEG activity around the stimulus frequency. The SSVEP component has been detected using Welsch's method. The Virtual Keyboard is characterized by high signal-to-noise ratio (SNR)

关键词： Electroencephalography (EEG) EEG signal biological signals brain - computer interface (BCI) Steady - State Visual Evoked Potentials (SSVEP)

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LQG control of piezoelectric smart truss

LQG control of piezoelectric smart truss

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International Carpathian Control Conference (ICCC)

作者： Dariusz Grzybek Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9781467344883

Truss, in which one or more passive members are replaced by active members containing piezoelectric actuator, have high coefficient of the vibration damping and have simultaneously low mass. The active members enable a generation of the forces having an effect on selected nods in the truss. Such truss is called smart truss in literature. Expected effect of the active members application is a counteraction of the external influences on the truss, for example by wind. A project of the control algorithm of such smart truss is a difficult task, because it is MIMO control object. The control algorithms, which are based on the state space model, is a promising direction in the scientific research, because designed control lows take into account the displacements and speeds of all nods of the truss. This paper presents the results of simulation research of control system with the use of LQG algorithm for exemplary truss. The application of LQG algorithm in the smart truss control could influence the increase of the vibration damping of such structure.

关键词： Simulation

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of science and technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Negative Affect in Human Robot Interaction - Impoliteness in Unexpected Encounters with Robots 22nd

Negative Affect in Human Robot Interaction - Impoliteness in...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Matthias Rehm Anders Krogsager Center of Robotics Research Faculty of Engineering and Science Aalborg University School of Information and Communication Technology Aalborg University

ISBN: (纸本)9781479905089

The vision of social robotics sees robots moving more and more into unrestricted social environments, where robots interact closely with users in their everyday activities, maybe even establishing relationships with the user over time. In this paper we present a field trial with a robot in a semi-public place. Our analysis of the interactions with casual users shows that it is not enough to focus on modeling behavior that is similar to successful human interactions but that we have to take more deviant ways of interaction like abuse and impoliteness into account when we send robots into the users' environments. The analysis uses impoliteness theory as an analytical toolbox and exemplifies which strategies are employed by users in unexpected encounters with a humanoid robot.

关键词： Robot Consumers role model Human machine interaction ENCOUNTERS field experimentation Negative abuse Abuse Humanoid robots

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Relation between microstructure and hardness of nano-composite CrN/Si 3N4 coatings obtained using CrSi single target magnetron system

Relation between microstructure and hardness of nano-composi...

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作者： Morgiel, Jerzy Grzonka, Justyna Mania, Ryszard Zimowski, Slawomir Labar, Janos L. Fogarassy, Zsolt Institute of Metallurgy and Materials Science Polish Academy of Sciences 25 Reymonta st. 30-059 Krakow Poland AGH University of Science and Technology Faculty of Materials Science and Ceramics Al. Mickiewicza 30 30-059 Krakow Poland AGH University of Science and Technology Faculty of Mechanics and Robotics Al. Mickiewicza 30 30-059 Krakow Poland Institute for Technical Physics and Materials Science Research Centre for Natural Sciences Hungarian Academy of Sciences Pusztaszeri út 59-67 1025 Budapest Hungary

Sintered targets with mixed Cr and Si (10, 20, 30, 35 and 40 at. %) elemental powders were sputtered in mixture of argon and nitrogen on silicon substrates kept either at ambient temperature or at 600 °C. The microstructure was characterized using transmission electron microscopy, while mechanical properties were estimated based on hardness measurements. Observations showed that magnetron sputtering of targets with high silicon content on substrates at ambient temperature resulted in the formation of gradient nano-composites that are partly amorphous and partly crystalline. The amorphous phase dominated in the zone close to the substrate, while the nano-crystalline character was more pronounced nearer to the coating surface. The volume of crystalline phase in the coatings was decreasing with increasing silicon content to such an extent that those obtained from CrSi40 target were fully amorphous. The coatings deposited on substrates resistively heated up to 600°C showed fine columnar microstructure with diameter decreasing with increasing silicon content, which changed to nano-composite and eventually fully amorphous for those obtained using CrSi35 and CrSi40 targets. The Elemental mapping by electron energy filtered imaging helped prove that in the nano-composite coatings the CrN-type crystalline phase and the amorphous phase are enriched respectively in chromium and silicon. The hardness of the coatings deposited at ambient temperature and characterized by mixed crystalline and amorphous microstructure was close to 20 GPa, except those containing layers enriched in chromium and silicon, which fall down to 15 GPa or even 10 GPa. The hardness of crystalline coatings deposited at 600°C was increasing from 20 to 30-35 GPa with decreasing average column diameter from ∼40 to ∼35 and ∼25 nm (obtained from CrSi10, CrSi20 and CrSi30 targets). The higher silicon content in the coatings caused both further diminishing of the average crystallite size below 10 nm and simultaneo

关键词： Hardness

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Erratum to: Glowing in the dark: discriminating patterns of bioluminescence from different taxa during the Arctic polar night

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Polar Biology 2014年第1期38卷 115-115页

作者： Geir Johnsen Mauro Candeloro Jørgen Berge Mark Moline Applied Underwater Robotics Laboratory Department of Biology Norwegian University of Technology and Science (NTNU) Trondheim Norway Department of Arctic Biology University Centre on Svalbard (UNIS) Longyearbyen Norway Applied Underwater Robotics Laboratory Department of Marine Technology Norwegian University of Technology and Science (NTNU) Trondheim Norway Faculty of Biosciences Fisheries and Economy Institute of Arctic and Marine Biology University of Tromsø Tromsø Norway School of Marine Science and Policy University of Delaware Newark USA

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Cross-cultural study on human-robot greeting interaction: Acceptance and discomfort by Egyptians and Japanese

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Paladyn 2013年第2期4卷 83-93页

作者： Trovato, Gabriele Zecca, Massimiliano Sessa, Salvatore Jamone, Lorenzo Ham, Jaap Hashimoto, Kenji Takanishi, Atsuo Graduate School of Science and Engineering Waseda University #41-304 17 Kikui-cho Shinjuku-ku Tokyo162-0044 Japan Faculty of Science and Engineering Waseda University Humanoid Robotics Institute Waseda University Japan School of Innovative Design Engineering Mechatronics and Robotic Dept. Egypt-Japan University of Science and Technology Borg El Arab Alexandria21934 Egypt Instituto de Sistemas e Robotica Instituto Superior Tecnico Av. Rovisco Pais 1 Lisbon1049-001 Portugal Department of Innovation Sciences Eindhoven University of Technology P.O. Box 513 5600 MB IPO 1.20 Eindhoven Netherlands Faculty of Science and Engineering Waseda University Japan Waseda University Japan

As witnessed in several behavioural studies, a complex relationship exists between people's cultural background and their general acceptance towards robots. However, very few studies have investigated whether a robot's original language and gesture based on certain culture have an impact on the people of the different cultures. The purpose of this work is to provide experimental evidence which supports the idea that humans may accept more easily a robot that can adapt to their specific culture. Indeed, improving acceptance and reducing discomfort is fundamental for future deployment of robots as assistive, health-care or companion devices into a society. We conducted a Human-Robot Interaction experiment both in Egypt and in Japan. Human subjects were engaged in a simulated video conference with robots that were greeting and speaking either in Arabic or in Japanese. The subjects completed a questionnaire assessing their preferences and their emotional state, while their spontaneous reactions were recorded in different ways. The results suggest that Egyptians prefer the Arabic robot, while they feel a sense of discomfort when interacting with the Japanese robot;the opposite is also true for the Japanese. These findings confirm the importance of the localisation of a robot in order to improve human acceptance during social human-robot interaction. © 2018 De Gruyter Open Ltd. All rights reserved.

关键词： Human robot interaction

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A Received Signal Strength Indication-based Localization System

A Received Signal Strength Indication-based Localization Sys...

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Mediterranean Conference on Control & Automation

作者： Pedro Lourenco Pedro Batista Paulo Oliveira Carlos Silvcstre Philip Chen Institute for Systems and Robotics Instituto Superior Tecnico Universidade Tecnica de Lisboa Faculty of Science and Technology of the University of Macau

ISBN: (纸本)9781479909964

Localization using the received signal strength indication (RSSI) of wireless local area networks with a priori knowledge of the coordinates of the routers/access points is addressed in this paper. The proposed algorithm employs a path loss model that allows for the inclusion of the logarithmic measurements of the signal strength directly in the state of the nonlinear system that is designed. The nonlinear system is augmented in such a way that the resulting system structure may be regarded as linear time-varying for observability purposes, from which a Kalman filter follows naturally. Simulation results are included that illustrate the performance of the proposed solution.

关键词： Observability Nonlinear systems IEEE 802.11 Standards Vectors Noise measurement Time-varying systems Noise

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GES tightly coupled attitude estimation based on a LBL/USBL positioning system

GES tightly coupled attitude estimation based on a LBL/USBL ...

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European Control Conference (ECC)

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Universidade Técnica de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau.

ISBN: (纸本)9781479901890

Typical attitude estimation solutions for underwater vehicles rely on magnetometers, which are prone to magnetic field distortions. This can preclude its use in intervention scenarios, in the vicinity of objects with strong magnetic signatures, severely endangering not only the intervention mission but also the operation of the underwater vehicle. This paper presents a novel attitude estimation solution, based on a combined Long Baseline / Ultra Short Baseline (LBL/USBL) acoustic positioning system, with application to underwater vehicles. The range and range differences of arrival obtained with the LBL/USBL are directly embedded in the estimator dynamics, without any linearization whatsoever, and globally exponentially stable (GES) error dynamics are achieved. Simulation results evidence good performance of the proposed solution.

关键词： Observers Vehicles Acoustics Vehicle dynamics Vectors Magnetometers

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