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International Conference on Innovative engineering Systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. Controller is designed based on feedback linearization to track desired trajectories. Controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Repeatability Analysis of Rollover Recognition in Changing Myoelectric Electrode Condition

Repeatability Analysis of Rollover Recognition in Changing M...

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

作者： Takeshi Ando Masakatsu G. Fujie Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Faculty of Science and Engineering Waseda University

ISBN: (纸本)9781424441211

Bone cancer metastasis patients feel severe pain while performing rollover movement. We have been developing a robotic trunk orthosis to support the rollover movement in bed for bone cancer metastasis patients. In this support system, the myoelectric signal is used to recognize the start timing of the rollover movement. However, the characteristics of the myoelectric signal can change easily from long-term use and due to electrode misalignment. In this paper, the effects of long-term use and electrode misalignment in rollover movement were analyzed. It was found that continuous usage of less than 18 hours was suitable. In addition, the electrode was needed to be attached around the ASIS from 0 to 23 (deg) to obtain a large potential and quick response signal.

关键词： myoelectric signal run-up time Electrodes Bone Cancer Movements Support Systems severe pain Misalignment

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Map building from laser range sensor information using mixed data clustering and singular value decomposition in noisy environment

Map building from laser range sensor information using mixed...

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IEEE/SICE International Symposium on System Integration

作者： Ankit A. Ravankar Yohei Hoshino Takanori Emaru Yukinori Kobayashi Research Group of Biomechanics and Robotics Division of Human Mechanical Systems and Design Faculty and Graduate School of Engineering Hokkaido University Sapporo Japan

This paper presents the results of using mixed clustering (k-means and DBSCAN clustering) with singular value decomposition to build map in a noisy environment from laser range sensor information. Sensors are prone to errors, moreover, environmental and other factors may affect the sensor sensitivity. This may generate a lot of noise which must be removed before building the map. The study shows how density based clustering techniques can, without losing critical information, greatly reduce noise from sensor data. Further applying k-means clustering, the results with various cluster sizes are discussed. Singular value decomposition on the centroids obtained with the k-means clustering is applied to obtain straight regression lines. The %error in the generated maps were analyzed with different sizes of clusters. The experimental results confirmed that the proposed approach can generate accurate maps even in noisy environments.

关键词： Clustering algorithms Noise Simultaneous localization and mapping Algorithm design and analysis Noise measurement

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Adaptive control design in chaos synchronization as alternative of lyapunovs direct method

Adaptive control design in chaos synchronization as alternat...

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作者： Tar, József K. Rudas, Imre J. Bitó, János F. Pozna, Claudiu Inst. of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Bécsi út 96/B Budapest H-1034 Hungary Design and Robotics Department University Transilvania of Brasov Bd. Eroilor 29 Brasov Romania

ISBN: (纸本)9781457718069

As is well known various neuron models show interesting behavior as producing stable, non-sinusoidal limit cycles or even chaotic regimes of motion. Realization of precise tracking of a chaotic trajectory generated by a "master system" by a controlled, quite different "slave" system also having aptitude for chaotic motion is an interesting challenge. Lyapunov's 2nd or "Direct" Method is generally used in the literature for such purposes. It is well known that finding appropriate Lyapunov function is rather an "art" that needs special mathematical skills so it needs very talented designers. As an alternative of Lyapunov's Direct Method the use of "Robust Fixed Point Transformations (RFPT)" for the synchronization of the motion of different chaotic systems is studied in this paper via numerical simulations. It is shown that the RFPT-based method is very efficient. In the present paper the signal generated by a 1st order Chua-Matsumoto Circuit serves as a reference trajectory to be racked by a 2 nd order chaotic system, the Duffing Oscillator. The interesting finding is reported that while the "brute force" solution achieved by very big simple linear feedback coefficients fails after a short period the adaptive controller operating on the basis of very loose, purely kinematically designed feedback coefficient successfully stabilizes the synchronization. © 2011 Scientific Assoc Infocomm.

关键词： Chaotic systems

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Treadmill Motor Current Based Anteroposterior Force Estimation Using Ground Reaction Force Approximation Depending on Gait Cycle

Treadmill Motor Current Based Anteroposterior Force Estimati...

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

作者： Yasutaka Nakashima Takeshi Ando Yo Kobayashi Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Faculty of Science and Engineering Waseda University

ISBN: (纸本)9781424441211

We have been developing a new vehicle, "Tread-Walk 2 (TW-2)", which supports walking for the elderly. TW-2 is controlled by the natural walking movement. In our previous work, we tried to estimate the user's anteroposterior force from the motor current value without a force sensor in order to possible to have a more intuitive operability of TW-2. But, a user of this vehicle experienced some discomfort both when he started walking and when he stopped walking. This problem is caused by inaccurate estimation of the user's anteroposterior force at the heel contact and the toe off. The estimation of the user's anteroposterior force is greatly related to inaccurate estimation of the vertical component of the ground reaction force, which is approximated by the square waveform in the stance phase. In order to construct a control algorithm to improve the operability of TW-2, we accurately estimated the user's anteroposterior force. We therefore proposed the new method to approximate the vertical force in order to estimate the user's anteroposterior force accurately. This paper describes the new method to approximate the waveforms of the vertical forces as isosceles trapezoidal waves with a slope changed depending on the change of the walking velocity. By comparing the estimated anteroposterior force using the new method with the measured value using the force plate, for two young subjects whose physical characteristics were different, the waveform pattern of the estimated force was found to be similar to that of the measured force. This showed that the proposed method could possibly be useful for accurate estimation of anteroposterior force.

关键词： walking ground reaction force motor current Consumers force sensors force plate Computer algorithms SQUARE WAVE vertical force Force new methods Values in measurement

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Adaptive control design in chaos synchronization as alternative of Lyapunov's direct method

Adaptive control design in chaos synchronization as alternat...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： József K. Tar Imre J. Rudas János F. Bitó Claudiu Pozna Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Budapest Hungary Design and Robotics Department University Transilvania of Brasov Brasov Romania

As is well known various neuron models show interesting behavior as producing stable, non-sinusoidal limit cycles or even chaotic regimes of motion. Realization of precise tracking of a chaotic trajectory generated by a “master system” by a controlled, quite different “slave” system also having aptitude for chaotic motion is an interesting challenge. Lyapunov's 2 nd or “Direct” Method is generally used in the literature for such purposes. It is well known that finding appropriate Lyapunov function is rather an “art” that needs special mathematical skills so it needs very talented designers. As an alternative of Lyapunov's Direct Method the use of “Robust Fixed Point Transformations (RFPT)” for the synchronization of the motion of different chaotic systems is studied in this paper via numerical simulations. It is shown that the RFPT-based method is very efficient. In the present paper the signal generated by a 1 st order Chua-Matsumoto Circuit serves as a reference trajectory to be racked by a 2 nd order chaotic system, the Duffing Oscillator. The interesting finding is reported that while the “brute force” solution achieved by very big simple linear feedback coefficients fails after a short period the adaptive controller operating on the basis of very loose, purely kinematically designed feedback coefficient successfully stabilizes the synchronization.

关键词： Chaos Trajectory Oscillators Adaptive control Synchronization Robots Robustness

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Thoracic ROM Measurement System with Visual Bio-feedback: System design and Biofeedback Evaluation

Thoracic ROM Measurement System with Visual Bio-feedback: Sy...

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

作者： Takeshi Ando Kazuya Kawamura Junko Fujitani Tomokazu Koike Masashi Fujimoto Masakatsu G. Fujie Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Faculty of Science and Engineering Waseda University Department of Rehabilitation Medicine National Center for Global Health and Medicine

ISBN: (纸本)9781424441211

Patients with diseases such as chronic obstructive pulmonary disease (COPD) need to improve their thorax mobility. Thoracic ROM is one of the simplest and most useful indexes to evaluate the respiratory function. In this paper, we have proposed the prototype of a simple thoracic ROM measurement system with real-time visual bio-feedback in the chest expansion test. In this system, the thoracic ROM is measured using a wire-type linear encoder whose wire is wrapped around the thorax. In this paper, firstly, the repeatability and reliability of measured thoracic ROM was confirmed as a first report of the developed prototype. Secondly, we analyzed the effect of the bio-feedback system on the respiratory function. The result of the experiment showed that it was easier to maintain a large and stable thoracic ROM during deep breathing by using the real-time visual biofeedback system of the thoracic ROM.

关键词： Read only memory Visualization Biological control systems Real time systems Current measurement Diseases Prototypes

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Nonlinear identification of electro-magnetic force model

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2010年第3期11卷 165-174页

作者： R. SHABANI S. TARIVERDILO H. SALARIEH Mechanical Engineering Department Faculty of EngineeringUrmia University Civil Engineering Department Faculty of EngineeringUrmia University Center of Excellence in Design Roboticsand Automation (CEDRA)Sharif University of Technology

Conventional attractive magnetic force models (proportional to the coil current squared and inversely proportional to the gap squared) cannot simulate the nonlinear responses of magnetic bearings in the presence of electromagnetic losses,flux leakage or saturation of *** this paper,based on results from an experimental set-up designed to study magnetic force,a novel parametric model is presented in the form of a nonlinear polynomial with unknown *** parameters of the proposed model are identified using the weighted residual *** of the model identified were performed by comparing the results in time and frequency *** results show a good correlation between experiments and numerical simulations.

关键词： Identification Nonlinear vibration Magnetic bearing Weighted residual method

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Static Balancing and Dynamic Modeling of a Three-Degree-of-Freedom Parallel Kinematic Manipulator

Static Balancing and Dynamic Modeling of a Three-Degree-of-F...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Dan Zhang Feng Gao Zhen Gao Xiaolin Hu Faculty of Engineering and Applied Science University of Ontario Institute of TechnologyOshawaONC Institute of Design and Control Engineering for Heavy Equipment Shanghai Jiaotong UniversityShangha Robotics and Automation Laboratory University of Ontario Institute of TechnologyOshawaONCanadaL1

ISBN: (纸本)9781612843865

This research is concerned with the design and analysis of a parallel kinematic manipulator (PKM) with three degrees of freedom (DOF). The proposed PKM combining the spatial rotational and translational degrees of freedom has varied advantages and good potential applications of materials handling. First, the static balancing of the parallel manipulator is investigated. The definition and methodology of static balancing are introduced. Two methods including adjusting kinematic parameters and counterweights are applied to the structure and the counterweights method leads to static balancing of the PKM. The conditions of static balancing are given. Then the dynamic model of the proposed PKM is deduced. It describes the relationship between the driving forces and the motion of the end-effector platform. Two approaches, the Newton-Euler and the Lagrange methods, are compared and the later one is selected to build the dynamic model of the 3-DOF tripod mechanism.

关键词： Freedom Manipulator relationship Static equilibrium dynamic models Degree of freedom bobweight pyruvate kinase, muscle kinematics three degrees of freedom

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Filtering Essential Tremor Noise on surface EMG based on Squared Sine Wave Approximation

Filtering Essential Tremor Noise on surface EMG based on Squ...

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

作者： Masatoshi Seki Yuya Matsumoto Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Graduate School of Creative Science and Engineering Waseda University Dept. of Robotics & Design for Innovative Healthcare (Panasonic) Graduate School of Medicine Osaka University Osaka Japan and Faculty of Science and Engneering Waseda University Faculty of Science and Engineering Waseda University Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Department of Rehabilitation Medicine Juntendo University Graduate School

ISBN: (纸本)9781424441211

Essential Tremor (ET) refers to involuntary movements of a part of the body. ET patients have serious difficulties in performing daily living activities. Our ultimate goal is to develop a system that can enable ET patients to perform daily living activities. We have been developing an exoskeleton robot for ET patients. We make use of the electromyogram (EMG) signal to control this robot. However, the EMG signal of ET patients contains not only signals from voluntary movements but also noise from involuntary tremors. In this paper, we focus on developing a signal processing method to suppress tremor noise present in the surface EMG signal. The proposed filter detected attenuation ratio by the correlation between the last EMG data and one period squared sine wave. The filtered EMG signals indicated that essential tremor noise of the elbow flexed posture while holding a water-filled bottle was suppressed. In addition, voluntary information was less affected by the filter. Welch's t-value test confirmed that ease of extraction of voluntary movement was increased by the proposed filter.

关键词： Surface Electromyography Essential Tremor voluntary movement Activities of Daily Living Electromyogram Noise Fault trees sin Involuntary Movements Patients

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