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International Conference on Innovative Engineering Systems (ICIES)

作者： Khalil Ibrahim Ahmed Ramadan Mohamed Farmi Yo Kobayashi Ahmed Abo-Ismail Masakatus G. Fujie Mechatronics and robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Computers and Automatic Control Engineering Dep Tanta University Tanta Egypt Mansoura University Mansoura EG The faculty of Science and Engineering Waseda University Tokyo Japan

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopie surgical manipulator. The proposed mechanism, 2-PUU 2PUS, is designed based on the screw theory and the parallel virtual chain type synthesis method. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB software. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.

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Better be reactive at the beginning. Implications of the first seconds of an encounter for the tutoring style in human-robot-interaction

Better be reactive at the beginning. Implications of the fir...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Karola Pitsch Katrin S. Lohan Katharina Rohlfing Joe Saunders Chrystopher L. Nehaniv Britta Wrede Applied Informatics Group and the Research Institute for Cognition and Robotics Faculty of Technology Bielefeld University Cognitive Humanoids Lab Istituto Italiano di Tecnologia for Robotics Brain & Cognitive Sciences Emergentist Semantics group at Bielefeld University Adaptive Systems Research Group School of Computer Science University of Hertfordshire

ISBN: (纸本)9781467346047

The paper investigates the effects of a robot's "on-line" feedback during a tutoring situation with a human tutor. Analysis is based on a study conducted with an iCub robot that autonomously generates its feedback (gaze, pointing gesture) based on the system's perception of the tutor's actions using the idea of reciprocity of actions. Sequential micro-analysis of two opposite cases reveals how the robot's behavior (responsive vs. non-responsive) pro-actively shapes the tutor's conduct and thus co-produces the way in which it is being tutored. A dialogic and a monologic tutoring style are distinguished. The first 20 seconds of an encounter are found to shape the user's perception and expectations of the system's competences and lead to a relatively stable tutoring style even if the robot's reactivity and appropriateness of feedback changes.

关键词： Coaching ENCOUNTERS Robot Feedback Human machine interaction REACTIVE cargo

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Better be reactive at the beginning. Implications of the first seconds of an encounter for the tutoring style in human-robot-interaction

Better be reactive at the beginning. Implications of the fir...

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Pitsch, Karola Lohan, Katrin S. Rohlfing, Katharina Saunders, Joe Nehaniv, Chrystopher L. Wrede, Britta Faculty of Technology Bielefeld University Bielefeld 33501 Germany Cognitive Humanoids Lab Istituto Italiano di Tecnologia for Robotics Brain and Cognitive Sciences 16163 Genova Italy Emergentist Semantics Group at Bielefeld University CITEC Bielefeld 33501 Germany Adaptive Systems Research Group School of Computer Science University of Hertfordshire Hatfield AL10 9AB United Kingdom

ISBN: (纸本)9781467346054

The paper investigates the effects of a robot's on-line feedback during a tutoring situation with a human tutor. Analysis is based on a study conducted with an iCub robot that autonomously generates its feedback (gaze, pointing gesture) based on the system's perception of the tutor's actions using the idea of reciprocity of actions. Sequential micro-analysis of two opposite cases reveals how the robot's behavior (responsive vs. non-responsive) pro-actively shapes the tutor's conduct and thus co-produces the way in which it is being tutored. A dialogic and a monologic tutoring style are distinguished. The first 20 seconds of an encounter are found to shape the user's perception and expectations of the system's competences and lead to a relatively stable tutoring style even if the robot's reactivity and appropriateness of feedback changes. © 2012 IEEE.

关键词： Human robot interaction

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GPC Controller Design for an Intelligent Pneumatic Actuator

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Procedia Engineering 2012年 41卷 657-663页

作者： Ahmad’Athif Mohd Faudzi Nu’man Din Mustafa Khairuddin bin Osman M. Asyraf Azman Koichi Suzumori Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Malaysia Department of Industrial Electronics Faculty of Electrical and Electronics Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

This paper proposed a Generalized Predictive Controller (GPC) to the Intelligent Pneumatic Actuator (IPA) in order to analyze the control approach and the performance of the actuator. First, an estimation model of the IPA is obtained by using a Reaction Curve Method and the controller is designed based on the model obtained. By using the existing function proposed by the previous researcher, the implementation and tuning process of the GPC become easier. The parameter needed for the function can be obtained from the model and from simple calculation as presented in this paper. The performance of the designed GPC controller is tested to the actuator position control and the results shows good accuracy and fast response. Lastly, Proportional-Integral-Derivative controller (PID) is used to validate the result.

关键词： Intelligent Pneumatic Actuator (IPA) GPC controller PID controller

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Advanced controlling of the prototype of SMA linear actuator

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 93-101页

作者： Dominik, Ireneusz Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

During research on SMA wires the prototype of linear position actuator was built. The shape memory alloy (SMA) wires used in construction of the actuator are nonlinear and time variant. Thus, it was decided to use a fuzzy controller to control the actuator. However, because of the nature of SMA wires which work by changes of their temperature, after a few minutes of continuous work the actuator did not work accurately. In other words, the existing singleton values in a knowledge base were inappropriate. That is why each time after longer continuous work of the actuator it was needed to manually find and change the mentioned values. It took a lot of time and effort so eventually it was decided to create a real time auto-tuning algorithm which could identify crucial parameters of the actuator each time when it was needed. Together with initial values learning algorithm the advanced controlling of SMA actuator was created. © (2011) Trans Tech Publications, Switzerland.

关键词： Shape memory effect

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Fuzzy logic control of rotational inverted pendulum

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 84-92页

作者： Dominik, Ireneusz Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

The rotational inverted pendulum is a structure that was primarily developed by Katsuhisa Furuta. It is widely used thorough the control laboratories to demonstrate the effectiveness of nonlinear control algorithms. The rotational inverted pendulum is a nonlinear system of fourth order with a single input variable. In this article the full dynamic equations of motion of the rotational inverted pendulum are derived using Lagrangian formulation. Consequently, a comparison of obtained mathematical model with other models described and available in literature is conducted by means of computer simulations. Eventually, a complete energy build-up swing-up algorithm and fuzzy stabilization algorithm for the system are developed. The control algorithm is then implemented on a PLC device in order to control the existing laboratory stand available at the Department of Process Control [1]. The algorithm is implemented with the use of ladder logic and structured text programming language. The robustness of elaborated balancing control is verified by subsequent real-time tests conducted on the laboratory stand. © (2011) Trans Tech Publications, Switzerland.

关键词： Fuzzy logic

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EEG Analysis of Frontal Lobe Area in Arousal Maintenance State against Sleepiness

EEG Analysis of Frontal Lobe Area in Arousal Maintenance Sta...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Hisashi Yoshida Youki Tanaka Sho Kikkawa Department of Computational Systems Biology Faculty of Biology-Oriented Science and Technology Kinki University 930 Nishi Mitani Kinokawa Wakayama 649-6493 JAPAN. Department of Computational Systems Biology Faculty of Biology-Oriented Science and Technology Kinki University 930 Nishi Mitani Kinokawa Wakayama 649-6493 JAPAN Kinki University and at Humanoid Robotics Institute of Waseda University.

ISBN: (纸本)9781424441198

This paper describes EEG analysis of frontal lobe area in arousal maintenance state against sleepiness. Arousal maintenance state is considered different physiological state from the normal sleep onset. To analyze the EEG of frontal area might be important because we believe that the arousal maintenance state against sleepiness causes neuron activities from the frontal lobe, which coordinates behavior, to hypothalamus, which coordinates wakefulness and sleep. It is, however, hard to use EEG signals in the frontal area consistently because blinking artifacts are mixed in the EEG signals. In this paper, we have analyzed the EEG signals of the frontal lobe in arousal maintenance state against sleepiness after removing the eye-blinking artifact from the scalp EEG signals using an ICA denoising method. As a result, the EEG signals of the frontal area in the arousal maintenance state against sleepiness have wide bandwidth as in the EEG of the occipital area. It strengthens our speculation, i.e., the EEG desynchronization occurs because of the neuron activities from the frontal lobe to hypothalamus in order to maintain arousal state against sleepiness.

关键词： EEG analysis wakefulness maintenance state ICA Desynchronization Instantaneous Equivalent Bandwith

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Neurofeedback for the treatment of schizophrenia: Case study

Neurofeedback for the treatment of schizophrenia: Case study

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IEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS)

作者： Wenya Nan Lanshin Chang Joao Pedro Rodrigues Feng Wan Peng Un Mak Pui-In Mak Mang I Vai Agostinho Rosa Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China Department of Psychology Faculty of Social Sciences and Humanities University of Macau Macao China LaSEEB-System and Robotics Institute Department of Bioengineering Instituto Superior Tecnico Technical University of Lisbon Portugal

The paper presents a case report of the therapy by neurofeedback training of a chronic female schizophrenia outpatient. The purpose of the neurofeedback training was to enhance cognition, memory and behavioral performance. We used an intensive approach. All the training sessions were performed during 4 consecutive days. The results showed that the patient learnt to increase individual alpha amplitude and simultaneously decrease beta2 (20-30 Hz) amplitude at P4 site during active state over sessions. The individual alpha increased 74.73% and beta2 decreased 13.73%. The short term memory was enhanced after training. Her mood had positive change and her speech was much clearer than before. She started to associate the meaning of her life and illness. These results support that neurofeedback is not only a feasible therapy for schizophrenia but also positive results could be obtained using a much more intensive training sessions than the one reported in the literature.

关键词： Training Neurofeedback Electroencephalography Mood Biological control systems Cognition

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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Tracking control of a compliant XY nano-positioner under pla...

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IEEE International Conference on Automation science and Engineering (CASE)

作者： Hui Tang Yangmin Li Qinmin Yang Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa Macao China Overseas Distinguished Professor at the State Key Laboratory of Robotics of Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Control Science and Engineering Zhejiang University Hangzhou China

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H ∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks.

关键词： Mathematical model Uncertainty Hysteresis Nanobioscience Actuators Robustness

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Controller Design for Simulation Control of Intelligent Pneumatic Actuators (IPA) System

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Procedia Engineering 2012年 41卷 593-599页

作者： Ahmad ‘Athif Mohd Faudzi Khairuddin bin Osman M.F. Rahmat Nu’man Din Mustafa M. Asyraf Azman Koichi Suzumori Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Malaysia Department of Industrial Electronics Faculty of Electrical and Electronics Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

Intelligent Pneumatic Actuators (IPA) is a system for application that requires better control and accuracy. The purpose of this paper is to present a controller design for simulation control of an IPA system using Proportional-Integrative (PI) controller and pole-placement feedback controller. Before the controller is designed, a model identification is used to obtain the plant using transfer function. The flow for the controller design starts with the theory, mathematical calculation, procedures and the implementation of the simulation control by using MATLAB software. Furthermore, simulation results are compared and analyzed to illustrate the performance of the proposed controllers.

关键词： Intelligent Pneumatic Actuator (IPA) System Identification (SI) PI controller Feedback controller

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