检索结果-内蒙古大学图书馆

IEEE Conference on Aerospace

作者： Stefan Barthelmes Thomas Bahls Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Franz Hacker Roman Holderried Viktor Langofer Roy Lichtenheldt Sascha Moser Kaname Sasaki Hans-Jü rgen Sedlmayr Juliane Skibbe Leon Stubbig Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control WeBling German Aerospace Center (DLR) Institute of Robotics and Mechatronics WeBling German Aerospace Center (DLR) Institute of Space Systems Bremen

ISBN: (数字)9781665437608

ISBN: (纸本)9781665437615

Wheeled rovers have been successfully used as mobile landers on Mars and Moon and more such missions are in the planning. For the Martian Moon eXploration (MMX) mission of the Japan Aerospace Exploration Agency (JAXA), such a wheeled rover will be used on the Marsian Moon Phobos. This is the first rover that will be used under such low gravity, called milli-g, which imposes many challenges to the design of the locomotion subsystem (LSS). The LSS is used for unfolding, standing up, driving, aligning and lowering the rover on Phobos. It is a entirely new developed highly-integrated mechatronic system that is specifically designed for Phobos. Since the Phase A concept of the LSS, which was presented two years ago [1], a lot of testing, optimization and design improvements have been done. Following the tight mission schedule, the LSS qualification and flight models (QM and FM) assembly has started in Summer 2021. In this work, the final FM design is presented together with selected test and optimization results that led to the final state. More specifically, advances in the mechanics, electronics, thermal, sensor, firmware and software design are presented. The LSS QM and FM will undergo a comprehensive qualification and acceptance testing campaign, respectively, in the first half of 2022 before the FM will be integrated into the rover.

关键词： Space vehicles Mars Frequency modulation Mechatronics Moon Writing Thermal sensors

来源：评论

学校读者我要写书评

暂无评论

A Real-Time Fail-Safe Algorithm for Decoding of Myoelectric Signals to Control a Prosthetic Arm 21

A Real-Time Fail-Safe Algorithm for Decoding of Myoelectric ...

引用

21st IEEE International Carpathian Control Conference, ICCC 2020

作者： Unanyan, Narek N. Belov, Alexey A. V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Laboratory of Dynamics of Control Systems Moscow Russia Faculty of Control Systems and Robotics Itmo University St. Petersburg Russia

ISBN: (数字)9781728119519

ISBN: (纸本)9781728119519

In this article a real-Time self-Tuning algorithm of detecting fingers movements based on the electromyographic (EMG) sensors is developed. A multi-level input data processing from the EMG sensor with self diagnosis is suggested. It provides the identification of muscle tension, which corresponds of several types of finger movements. This solution enables to use the lowbit controllers to manipulate the prosthetic hand. The results of system modeling and testing on the Arduino nano microcontroller demonstrated that the system identifies finger movements with high accuracy. © 2020 IEEE.

关键词： Prosthetics

来源：评论

学校读者我要写书评

暂无评论

Design and Evaluation of a Low Friction Rigid-Soft Hybrid Mechanism for Hand Exoskeletons with Finite Element Analysis

Design and Evaluation of a Low Friction Rigid-Soft Hybrid Me...

引用

IEEE International Conference on robotics and Biomimetics

作者： Sihui Liu Pu Duan Jianda Han Ningbo Yu College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Xeno Dynamics Co. Ltd Shenzhen Guangdong China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen Guangdong China

ISBN: (纸本)9781665481106

Hand exoskeletons are attracting rising research interest for assistance in daily life. Friction is a critical issue for hand exoskeletons intended to enable dexterous finger movements. This paper presents a rigid-soft hybrid assistive hand exoskeleton using a low friction mechanism based on the multi-layered springs with rolling contact. The low friction designs not only facilitate the high transparency of the device, but also the possibility of accurate modeling in mechanics. Regarding the large deformation nature of the nonlinear mechanism, finite element analysis (FEA) has been used to explore its kinematic and kinetic characteristics. Experiments were carried out on the implemented prototype to compare the numerical results with the measured. The results demonstrate that this modeling method can provide valuable guidance for better parameter selection and optimization.

关键词： Performance evaluation Friction Exoskeletons Prototypes Finite element analysis Numerical models Kinetic theory

来源：评论

学校读者我要写书评

暂无评论

Finally! Insights into the ARCHES Lunar Planetary Exploration Analogue Campaign on Etna in summer 2022 73

Finally! Insights into the ARCHES Lunar Planetary Exploratio...

引用

73rd International Astronautical Congress, IAC 2022

作者： Wedler, Armin Müller, Marcus G. Schuster, Martin J. Durner, Maximilian Lehner, Peter Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Stürzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F. Ehreiser, Anouk Staudinger, Emanuel Pöhlmann, Robert Zhang, Siwei Hellerer, Matthias Lichtenheldt, Roy Franke, Dennis Pignède, Antoine Schindler, Walter Schütt, Manuel Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Schröder, Susanne Frohmann, Sven Seel, Fabian Dietz, Enrico Triebel, Rudolph Lii, Neal Y. Bischoff, Esther Braun, Christian Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P. Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Rauer, Heike Hübers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Münchener Str. 20 Weßling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Münchener Str. 20 Weßling82234 Germany Institute of Communications and Navigation Münchener Str. 20 Weßl82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base Münchener Str. 20 Weßl82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

This paper summarises the first outcomes of the space demonstration mission of the ARCHES project which could have been performed this year from 13 june until 10 july on Italy's Mt. Etna in Sicily. After the second postponement related to COVID from the initially for 2020 planed campaign, we are now very happy to report, that the whole campaign with more than 65 participants for four weeks has been successfully conduced. In this short overview paper, we will refer to all other publication here on IAC22. This paper includes an overview of the performed 4-week campaign and the achieved mission goals and first results but also share our findings on the organisational and planning aspects. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

Preliminary results for the multi-robot, multi-partner, multi-mission, planetary exploration analogue campaign on mount etna

Preliminary results for the multi-robot, multi-partner, mult...

引用

IAF Space Exploration Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Wedler, Armin Möller, Marcus G Schuster, Martin J Durner, Maximilian Brunner, Sebastian G Lehner, Peter Lehner, Hannah Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Störzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F Staudinger, Emanuel Hellerer, Matthias Lichtenheldt, Roy Dietz, Enrico Braun, Christian Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Vilacampa, Alejandro F Bargen, Info V Schröder, Susanne Frohmann, Sven Seel, Fabian Triebel, Rudolph Lii, Neal Y Bischoff, Esther Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Kyr, Peter Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Kimpe, Andreas Rauer, Heike Höbers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Mönchener Str. 20 Webling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Mönchener Str. 20 Weßling82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base MönchenerStr. 20Webl 82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

ISBN: (纸本)9781713842965

This paper was initially intended to report on the outcome of the twice postponed demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has been postponed from 2020, then 2021, to 2022. Nevertheless, the development of our concepts and integration has progressed rapidly, and some of the preliminary results are worthwhile to share with the community to drive the dialog on robotics planetary exploration strategies. This paper includes an overview of the planned 4-week campaign, as well as the vision and relevance of the mission towards the planned official space missions. Furthermore, the cooperative aspect of the robotic teams, the scientific motivation, the sub task achievements are summarised. © 2021 International Astronautical Federation, IAF. All rights reserved.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

Variable Stiffness Control with Strict Frequency Domain Constraints for Physical Human-Robot Interaction

Variable Stiffness Control with Strict Frequency Domain Cons...

引用

2020 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Wulin Zou Pu Duan Yawen Chen Ningbo Yu Ling Shi Hong Kong University of Science and Technology Hong Kong China Xeno Dynamics Co. Ltd Shenzhen China Institute of Robotics and Automatic Information Systems and Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain constraints. Firstly, to reduce conservativeness, we characterize and constrain the impedance rendering, actuator saturation, disturbance/noise rejection and passivity requirements into their specific frequency bands. This relaxation makes sense because of the restricted frequency properties of the interactive robots. Secondly, a gain-scheduled method is taken to regulate the controller gains with respect to the desired stiffness. Thirdly, the scheduling function is parameterized via a nonsmooth optimization method. Finally, the proposed approach is validated by simulations, experiments and comparisons with a gain-fixed passivity-based PID method.

关键词： Frequency-domain analysis Human-robot interaction Optimization methods Rendering (computer graphics) Impedance Frequency control Time-varying systems

来源：评论

学校读者我要写书评

暂无评论

Holarchy for line-less mobile assembly systems operation in the context of the internet of production 14

Holarchy for line-less mobile assembly systems operation in ...

引用

14th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2020

作者： Buckhorst, Armin Friedrich Montavon, Benjamin Wolfschläger, Dominik Buchsbaum, Melanie Shahidi, Amir Petruck, Henning Kunze, Ike Pennekamp, Jan Brecher, Christian Hüsing, Mathias Corves, Burkhard Nitsch, Verena Wehrle, Klaus Schmitt, Robert Heinrich Department of Production Metrology and Quality Management Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen RWTH Aachen University Campus-Boulvard 30 Aachen52074 Germany Department of Machine Tools Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen RWTH Aachen University Campus-Boulvard 30 Aachen52074 Germany Institute of Mechanism Theory Machine Dynamics and Robotics RWTH Aachen University Eilfschornsteinstraße 18 Aachen52062 Germany Institute of Industrial Engineering and Ergonomics RWTH Aachen University Eilfschornsteinstraße 18 Aachen52062 Germany Department of Communication and Distributed Systems RWTH Aachen University Ahornstr. 55 Aachen52074 Germany

Assembly systems must provide maximum flexibility qualified by organization and technology to offer cost-compliant performance features to differentiate themselves from competitors in buyers' markets. By mobilization of multipurpose resources and dynamic planning, Line-less Mobile Assembly systems (LMASs) offer organizational reconfigurability. By proposing a holarchy to combine LMASs with the concept of an Internet of Production (IoP), we enable LMASs to source valuable information from cross-level production networks, physical resources, software nodes, and data stores that are interconnected in an IoP. The presented holarchy provides a concept of how to address future challenges, meet the requirements of shorter lead times, and unique lifecycle support. The paper suggests an application of decision making, distributed sensor services, recommender-based data reduction, and in-network computing while considering safety and human usability alike. © 2021 The Authors. Published by Elsevier B.V.

关键词： Assembly

来源：评论

学校读者我要写书评

暂无评论

Kinetostatic Modeling of Compliant Mechanisms Via Reduced-Mode Cosserat Rod Model

SSRN

引用

SSRN 2023年

作者： Wu, Ke Wang, Wei Li, Xin Hu, Junzhe Chen, Pengyu Cheng, Ran Sun, Qidi Liu, Lifu Zhou, Luna Xu, Xin Zhang, Shucheng Deng, Zicheng Chen, Rui Zheng, Gang INRIA Lille-Nord Europe 40 Avenue Halley Villeneuve d’Ascq59650 France State Key Laboratory of Mechanical Transmission University of Chongqing Chongqing400030 China LS2N - équipe ReV - Robotique Et Vivant Institut Mines Telecom Atlantique Nantes France Chongqing University China Chongqing University University of Cincinnati Joint Co-op Institute Chongqing University Chongqing400044 China Center for Robotics Research University of Cincinnati CincinnatiOH45221 United States MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi’an710072 China Hong Kong

Compliant mechanisms (CMs), which are normally composed of rigid blocks and flexible members, utilize the elastic deflection of all these built-in flexible members, totransfer motion, force and energy. In the current literature, geometrically nonlinear Euler Bernoulli beam theory and its related methods are commonly used for modelingthese flexible members. However, its governing ordinary differential equation (ODE) only considers the main contributor to beam deflections: bending, without taking careof shear and axial stretch along the beam. To take care of more possible strains, Cosserat rod theory, serves as a better alternative for high accuracy. However, it stillsuffers from relatively complex modeling and time-consuming computation. In this paper, we propose a reduced-mode Cosserat rod model to bypass the need ofconducting complex modeling, providing a more compact formulation. The detailed derivations are presented step by step, and we also propose a mode selectionmethod to meet the requirements of different engineering scenarios. Numerical examples are provided to verify the reduced-mode model as well as the feasibility ofmodeling CMs. In particular, modeling flexible springs and related mechanisms has been proved valid via this proposed model. © 2023, The Authors. All rights reserved.

关键词： Boundary value problems

来源：评论

学校读者我要写书评

暂无评论

Overcoming the Fear of the Dark: Occlusion-Aware Model-Predictive Planning for Automated Vehicles Using Risk Fields

arXiv

引用

arXiv 2023年

作者： van der Ploeg, Chris Nyberg, Truls Sánchez, José Manuel Gaspar Silvas, Emilia van de Wouw, Nathan Netherlands Organisation for Applied Scientific Research Integrated Vehicle Safety Group Helmond5700 AT Netherlands Eindhoven University of Technology Dynamics and Control Group Mechanical Engineering Dept. P.O. Box 513 Eindhoven5600 MB Netherlands Eindhoven University of Technology Control Systems Technology Group Mechanical Engineering Dept. P.O. Box 513 Eindhoven5600 MB Netherlands KTH Royal Institute of Technology Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science Stockholm100 44 Sweden Scania CV AB Södertälje151 87 Sweden

As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance systems (ADAS) primarily focus on basic tasks, leaving unexpected scenarios for human intervention, which can be error-prone. Motion planning approaches for higher levels of automation in the state-of-the-art are primarily oriented toward the use of risk- or anti-collision constraints, using over-approximates of the shapes and sizes of other road users to prevent collisions. These methods however suffer from conservative behavior and the risk of infeasibility in high-risk initial conditions. In contrast, our work introduces a novel multi-objective trajectory generation approach. We propose an innovative method for constructing risk fields that accommodates diverse entity shapes and sizes, which allows us to also account for the presence of potentially occluded objects. This methodology is integrated into an occlusion-aware trajectory generator, enabling dynamic and safe maneuvering through intricate environments while anticipating (potentially hidden) road users and traveling along the infrastructure toward a specific goal. Through theoretical underpinnings and simulations, we validate the effectiveness of our approach. This paper bridges crucial gaps in motion planning for automated vehicles, offering a pathway toward safer and more adaptable autonomous navigation in complex urban contexts. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Variable Stiffness Control with Strict Frequency Domain Constraints for Physical Human-Robot Interaction

arXiv

引用

arXiv 2020年

作者： Zou, Wulin Duan, Pu Chen, Yawen Yu, Ningbo Shi, Ling Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Xeno Dynamics Co. Ltd Shenzhen China Institute of Robotics and Automatic Information Systems Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

关键词： Frequency domain analysis

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：