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IEEE International Conference on Systems, Man and Cybernetics

作者： Khalil Ibrahim Ahmed A. Ramadan Mohamed Fanni Yo Kobayashi Ahmed A. Abo Ismail Masakatus G. Fujie Mechatronics and robotics Engineering Egypt-Japan University of Science and Technology Egypt Mechanical Department Mansoura University Mansoura Egypt The faculty of Science and Engineering Waseda University Japan

This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Endoscopic parallel manipulator is developed based on the concept of virtual chain and screw theory. The inverse and forward kinematics solutions are derived analytically and numerically respectively. Also the singularity analysis is investigated. The known problem of limited bending angles was solved in the proposed manipulator as it can reach ± 90° in any direction. The proposed manipulator consists of four legs; two legs are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two legs are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). The virtual prototype of the parallel mechanism was constructed in ADAMS. The kinematics simulation of the virtual prototype was realized. Four linear motors are used to drive the mechanism. The intuitive simulations with the combination of MATLAB/Simulink and ADAMS show that the control performance of kinematics analysis is satisfactory.

关键词： Manipulators Joints Kinematics Fasteners Jacobian matrices Equations Vectors

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Design of a novel multi-modal tactile display device for biomedical applications

Design of a novel multi-modal tactile display device for bio...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

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

Tactile display has recently been attracting much attention in the field of human computer interaction. There is a strong need for such a device especially for surgeons who need to feel the tissue hardness during laparoscopic surgeries. The concept of design is built upon simple use of several springs which are made from Shape Memory Alloy, SMA, to control shape and stiffness. In this paper, we describe the design of a new device which can display both surface shape and stiffness of an object. 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 design concept was validated through finite element analysis for the selected parameters.

关键词： Springs Shape Humans Force Biological tissues Fluids

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Development of Kalman Filter based two-port Body Force Observer for the flexible joint: Design and experiments

Development of Kalman Filter based two-port Body Force Obser...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Young Jin Park Hosun Lee Yonghwan Oh Wan Kyun Chung Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Interaction and Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Faculty of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

One of the main reasons for using a joint torque sensor in a robot is to measure body forces acting on the system. Especially, the motor actuating torque and the external link torque are important for a flexible joint control. However, it is difficult to measure or estimate those two torques simultaneously with a single joint torque sensor only due to the lack of information. In this paper, Kalman Filter based two-port Body Force OBserver(KF 2-port BFOB) was proposed to estimate two output torques from the motor-side port and the link-side port simultaneously using the two-port system dynamics, the joint angle and the sensor torque from the joint torque sensor based on the Kalman filter. The basic idea of KF 2-port BFOB is illustrated and its performance is verified by implementing the algorithm with disturbance observer(DOB) in the motor actuated one-DOF flexible joint robot. The experiments are executed in the planar situation (under the gravity-free condition) and in the vertical situation(under the gravity condition) respectively to verify the performance of KF 2-port BFOB. The results show something with conclusion.

关键词： Torque Joints Robot sensing systems Force Kalman filters Friction

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DC motor position control using discrete-time fixed-order H∞ controllers

DC motor position control using discrete-time fixed-order H...

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International Conference on Innovative Engineering Systems (ICIES)

作者： Mohamed A. Darwish Hossam S. Abbas Electrical Engineering Department Faculty of Engineering Assiut University Assiut Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt

This paper describes the design and experimental implementation of a discrete-time fixed-order H ∞ controller for a DC motor position control. Based on grey box modeling, a model of the DC motor is identified. An extension of HIFOO toolbox to discrete-time controller design developed recently is used to synthesize the controller. The performance of the designed controller in comparison with various control strategies is demonstrated. The paper aims at demonstrating simple modeling and control synthesis techniques with the help of available software tools to design low-complexity controllers in terms of design and implementation. Consequently, cheap hardware can be utilized for several applications.

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Motion detection based on simulated depth measurement

Frontiers in Artificial Intelligence and Applications

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Frontiers in Artificial Intelligence and Applications 2012年 243卷 335-344页

作者： Lim, Chern Hong Kadyrov, Alexander Seng Chan, Chee Liu, Honghai Centre of Image and Signal Processing Faculty of Computer Science and Information Technology University of Malaya Malaysia Intelligent Systems and Biomedical Robotics Group School of Creative Technologies University of Portsmouth United Kingdom

ISBN: (纸本)9781614991045

Depth information is a very important cue to understand human motion. In this paper, we establish that, even with no real depth camera, the concept of obtaining depth information is applicable for human motion detection. We propose a new motion detection method based on the concept of a real world video surveillance system enhanced with depth cameras. It is developed for detecting and analysing human motion. First, it imitates depth measuring process of a depth camera. Specially chosen in the image during the initialization process, view points play the role of cameras, whereas the depth is measured as a distance from these points to the human figure in the image. Initially, the body is partitioned into four segments to obtain the information about which part of the body is moving. Then, in course of the working cycle of the method, the received depth values are constantly subtracted from the previously obtained values, and the intensity of the body motion is calculated using root mean square. The method has been tested on actions taken from a standard motion dataset (IXMAS). It proved to be stable and reliable. © 2012 The authors and IOS Press. All rights reserved.

关键词： Cameras

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Magnetic navigation system for home use of repetitive transcranial magnetic stimulation (rTMS)

Magnetic navigation system for home use of repetitive transc...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Okada, Asao Nishikawa, Atsushi Fukushima, Taishi Taniguchi, Kazuhiro Miyazaki, Fumio Sekino, Masaki Yasumuro, Yoshihiro Matsuzaki, Taiga Hosomi, Koichi Saitoh, Youichi Department of Mechanical Science and Bioengineering Graduate School of Engineering Science Osaka University Toyonaka Japan Department of Neuromodulation and Neurosurgery Office for University-Industry Collaboration Osaka University Suita Japan Division of Mechanical Engineering and Robotics Faculty of Textile Science and Technology Shinshu University Ueda Japan Department of Electrical Engineering and Information Systems Graduate School of Engineering University of Tokyo Kashiwa Japan Faculty of Environmental and Urban Engineering Kansai University Suita Japan Home Healthcare Research and Development Department Teijin Pharrna Limited Tokyo Japan

ISBN: (纸本)9781467316163

We are developing stimulation coil navigation systems for home use of repetitive transcranial magnetic stimulation (rTMS). rTMS is effective for intractable diseases of the nervous system. However, the effects of rTMS last only for several hours, requiring a continuing daily rTMS therapies in a nearby clinic. A magnetic navigation system, the present system for fulfilling such needs, uses downsized, lightweight, low-cost magnetic sensors with datasets relating the magnetic field to the 3D position of the stimulation coil instead of the complicated handling and operation of large-scale and expensive devices or systems like a 3D position-measurement device. This system has been modified for home use and is easily available to non-medical staff. However, in a hospital, a large number of datasets, at least 500, is required, so collecting datasets might be a burden for the physician. To solve this problem, this paper proposes a method for extracting the necessary datasets for navigation. In the proposed method, many more datasets, which can handle any shape of a patient's head, are prepared in advance. The physician then collects only a few samples in the hospital. The system extracts the remaining datasets necessary for navigation by applying geometric model approximations like Delaunay triangulation or the ellipsoid model to the data for these samples. We evaluate the efficiency of the proposed method by a simulation of extracting datasets and navigating using a head model. The proposed method reduces the number of datasets collected by physicians from 500 to 10, thus reducing physicians' burdens. © 2012 IEEE.

关键词： Navigation systems

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GAS Ocean Current Estimation with Limited Velocity Readings

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IFAC Proceedings Volumes 2012年第5期45卷 337-342页

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics / Instituto Superior Técnico Universidade Técnica de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Faculty of Science and Technology University of Macau Taipa Macau

This paper presents a simple setup for ocean current estimation that offers globally asymptotically stable (GAS) error dynamics. In the proposed scenario, the underwater vehicle has only access to limited relative velocity readings, along the longitudinal direction of the vehicle, in addition to position measurements. The observability of the system is analyzed and necessary and sufficient conditions, with physical meaning, are derived, hence useful for motion planning and control. A Kalman filter, with GAS error dynamics, is implemented as a solution to the estimation problem and simulation results are included that illustrate the performance of the proposed solution.

关键词： Ocean current estimation observability and observer design marine systems

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Development of bending soft actuator with different braided angles

Development of bending soft actuator with different braided ...

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

作者： Ahmad Athif M. Faudzi M. Rusydi. M. Razif Ili Najaa Aimi M. Nordin K. Suzumori S. Wakimoto D. Hirooka Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

ISBN: (纸本)9781467325752

In recent years, many researchers have been focusing on the different novel techniques in designing pneumatic soft actuator that can produce bending motion. This paper presents a novel soft actuator design; a combination of different braided angles of artificial muscle applied on a single chamber soft actuator to produce bending motion. The actuator construction is based on the theory of contraction and extension of artificial muscle. It comprises of fiber-reinforced inside silicone rubber and is capable to create one-sided bending motion. Analysis of nonlinear finite element method is conducted to predict the direction and bending angles of the actuator before a prototype of actuator is fabricated. Based on the results, the developed soft actuator can realize bending motion after standard pressure driving experiment is executed.

关键词： Actuators Atmospheric modeling Rubber Muscles Finite element methods Robots Fabrication

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A Set-Valued Approach to FDI and FTC: Theory and Implementation Issues

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IFAC Proceedings Volumes 2012年第20期45卷 1281-1286页

作者： P. Rosa, P. Casau, C. Silvestre, S.M. Tabatabaeipour, J. Stoustrup Institute for Systems and Robotics - Instituto Superior Tecnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Aalborg University 9220 Aalborg East Denmark Faculty for Science and Technology University of Macau Taipa Macau

A complete methodology to design robust Fault Detection and Isolation (FDI) filters and Fault Tolerant Control (FTC) schemes for Linear Time-Varying (LTV) systems is proposed. The paper takes advantage of the recent advances in model invalidation using Set-Valued Observers (SVOs) that led to the development of FDI methods for uncertain linear time-varying systems, with promising results in terms of the time required to diagnose faults. An integration of such SVO-based FDI methods with robust control synthesis is described, in order to deploy new FTC algorithms that are able to stabilize the plant under faulty environments. The FDI algorithm is assessed within a wind turbine benchmark model, using Monte-Carlo simulation runs.

关键词： Fault diagnosis Fault tolerant control Linear Time-Varying Systems Set-Valued Observers Uncertain Systems

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Automatic Path and Trajectory Planning for Robotic Spray Painting

Automatic Path and Trajectory Planning for Robotic Spray Pai...

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ROBOTIK 2012;7th German Conference on robotics

作者： Alessandro Gasparetto Renato Vidoni Daniele Pillan Ennio Saccavini Dep. of Electrical Mechanical and Management Eng. University of Udine Universitadi Udine Faculty of Science and Technology Free University of Bozen-Bolzano CMA-Robotics Pradamano (Udine)

In this paper, a new automated optimum path and trajectory generation system for robotic painting process is presented. Usually, a direct self-learning manual method is usually adopted, i.e. the operator drives the robot manually through a complete spraying cycle. Recently, in order to-avoid this time-consuming procedure, CAD-based or "acquire-comparerecognize" methods have been developed. Here, a general technique that avoids the need for manual programming or CAD drawings and allows to obtain an optimal path and trajectory by using the graph theory and operative research methods is developed. After an image acquisition phase, a partitioner splits the object into a set of primitives, then the proposed algorithm is run on the graph in order to generate the optimal path; then, a optimum trajectory planning phase is performed. Kinematic and dynamic simulators of the CMA robotics robots have been developed and validated in order to allow a correct planning and evaluation of the results. The new path planning algorithm has been implemented in Matlab and *** environments. Practical applications are presented.

关键词： Painting Trajectory Robot kinematics Planning Service robots Paints

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