检索结果-内蒙古大学图书馆

2011 International Conference on E-business, Management and Economics（ICEME 2011）

作者： Plamena Zlateva Georgi Zabunov Dimiter Velev Institute of System Engineering and Robotics-BAS SofiaBulgaria University of National and World Economy SofiaBulgaria

The advantages of Social Customer Relation Management are *** of the theory of reasoned action are *** Intention to Purchase model is analyzed,as well as its constituent parts –Attitude to Behavior and Subjective Norm.A fuzzy logic model for estimation of the Intention to Purchase based on the available information sources and the expert knowledge is *** model adequately describes the subjective behavior of possible *** fuzzy model is part of a Social Customer Relationship Management system which will be developed.

关键词： Intention to purchase,social CRM,fuzzy logic model,attitude to behaviour,subjective norm

来源：评论

学校读者我要写书评

暂无评论

DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS ROBOT HAND AND THE CROSSTALK EFFECT ANALYSIS

DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS...

引用

The 2011 International Conference on Mechanical engineering and Technology

作者： Yuanfei Zhang Yiwei Liu Hong Liu Yue Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center DLR College of Electromechanical Engineering China University of Petroleum

In this study, a structure of a thin and flexible tactile sensor using pressure conductive rubber is presented. The sensor can cover specific three-dimensional surface, has a total of 36 elements and can measure the pressure in the range 0-600 k Pa, approximately. In order to compare the performance of the voltage feedback methods and the zero potential method, which presented in the literature are applied to weaken the crosstalk effect in a resistive array, some simple circuits are structured based on these methods, respectively. Then the effect of some circuit parameters on measurement errors of each circuit is simulated and analyzed and the performance of the circuits to weaken the crosstalk effect is compared. According to the simulation results, the performance of the circuit based on the voltage feedback non-scanned-sampling-electrode method is the best than any others. Therefore, a tactile signal acquiring and processing circuit based on this method is design. At last, experimental results that the crosstalk affects the measurement errors of this circuit are given.

关键词： Dexterous robot hand Tactile sensor Crosstalk

来源：评论

学校读者我要写书评

暂无评论

An adaptive Kalman filter for physiological tremor suppression in robot-assisted minimally invasive surgery

An adaptive Kalman filter for physiological tremor suppressi...

引用

IEEE International Conference on robotics and Biomimetics

作者： Daolong Yang Li Jiang Kun Xu Robotics Institute of School of Mechanical Engineering and Automation Beihang University (BUAA) Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Physiological tremors of surgeons’ hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients’ lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Compliance Control and Simulation of a Next-Generation Chewing Robot 42

Compliance Control and Simulation of a Next-Generation Chewi...

引用

42nd Chinese Control Conference, CCC 2023

作者： Wang, Xudong Xu, Weiliang Dhupia, Jaspreet Bronlund, John Han, Jianda The University of Auckland Department of Mechanical & Mechatronics Engineering Auckland New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Reddit Institute Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China

ISBN: (纸本)9789887581543

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Compliance control

来源：评论

学校读者我要写书评

暂无评论

Design and Analysis of Continuous Rotating Multifunctional Mechanical Gripper

Design and Analysis of Continuous Rotating Multifunctional M...

引用

IEEE International Conference on robotics and Biomimetics

作者： Menghui Pei Kun Xu Xilun Ding Shuiqing Jiang Xiangyu Gao Robotics Institute of School of Mechanical Engineering and Automation Beihang University (BUAA) Beijing China Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (纸本)9781728103785;9781728103778

This paper presents a novel multifunctional mechanical gripper which can rotate continuously. The mechanical design of the gripper is introduced and its operation modes are given. The gripper can screw hexagon socket head cap screws, press the button besides grip objects because of its special mechanical structure. The kinematics model of the gripper is built, process planning of screwing and grapping are provided. Screwing forces when the gripper operating different size screws are analyzed. These results will be significant for application of industrial automation assembly and field investigation.

关键词： Grippers Fasteners Sockets Kinematics Thumb Robots

来源：评论

学校读者我要写书评

暂无评论

Structure design and motion mode analysis of a six wheel-legged robot

引用

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics 2016年第1期42卷 59-71页

作者： Xu, Kun Zheng, Yi Ding, Xilun School of Mechanical Engineering & Automation Beijing University of Aeronautics and Astronautics Beijing100083 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

The research of hybrid locomotion robot has become one of the hottest spots of mobile robots. Wheel-legged robot which combines the advantages of wheeled robot and legged robot can be better adapted to complex environment. A new combination between wheels and legs is proposed and a new circumferential symmetry wheel-legged robot is designed. It can transit its locomotion mode by changing its configuration. Meanwhile, it reduces mechanism complication and avoids the fray of wheels while they are used as feet in legged motion mode. Because of its special structure, four typical "3+3" tripod gaits and the equivalent mechanisms in different walking gaits processes are presented and transition between them is analyzed. The forward and inverse kinematics models of single leg are built. Based on its structure, planning of motion mode transition from wheeled motion mode to legged motion mode and from legged motion mode to wheeled motion mode is given and simulated in software. Its wheeled motion mode and steering problem are analyzed and illustrated, and four steering models are built. Some tests with wheel-legged robot prototype are made to verify its ability of locomotion both in legged mode and wheeled mode and its capability of transition between different motion modes. © 2016, Beijing University of Aeronautics and Astronautics (BUAA). All right reserved.

关键词： Wheels

来源：评论

学校读者我要写书评

暂无评论

Macro-walking instruction for biped humanoid robot

Macro-walking instruction for biped humanoid robot

引用

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

作者： Yu. Ogura S. Ando N. Hieda Hun-ok Lim A. Takanishi Waseda University Graduate School of Science and Engineering Tokyo Japan Department of System Design Engineering Kanagawa Institute of Technology Japan Humanoid Robotics Institute Waseda University Japan Humanoid Robotics Institute Waseda University

This paper describes a macro-walking instruction strategy for a biped humanoid robot to memorize complex walking patterns systematically and effectively. In teaching various walking motions, auditory sensors are employed. Based on the sensory information, the motion of lower-limbs is created in online by a pattern generator. At the same time, the motion of the trunk and the waist is generated in online by a balance control method for walking stability. A complete walking pattern is hierarchically constructed on the basis of basic and advanced walking patterns. Using WABIAN-RV, many experimental tests are conducted, and the effectiveness of the teaching strategy is verified.

关键词： Humanoid robots Legged locomotion Humans Robot sensing systems Design engineering Service robots robotics and automation Speech recognition Learning systems Databases

来源：评论

学校读者我要写书评

暂无评论

Research on the control strategy of SEM based micro/nano tele-operation system

引用

Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2014年第11期35卷 2448-2457页

作者： Zhou, Jie Rong, Weibin Xu, Jinpeng Sun, Lining State Key laboratory Robotics and System Harbin Institute of Technology Harbin150080 China School of Electrical and Control Engineering Heilongjiang University of Science and Technology Harbin150022 China

In order to improve the tele-presence and stability of a scanning electron microscopy (SEM) based micro/nano tele-operation system, a sliding mode based impedance control scheme was proposed. Such a scheme features that impedance control strategy was applied to master to fulfill compliant control and sliding mode based impedance control strategy was adopted to slave to solve the parameter uncertainty problem. Tracking differentiator technology was integrated to the master/slave control strategy to obtain the derivative control signal of the micro/nano teleoperation system. Under the circumstance of low band and large gain of force feedback (105), the stability condition of micro/nano teleoperation system was derived from Liewellyn criterion. The good robustness and accurate force tele-presence of the proposed sliding mode control approach were verified by simulation and experimental results. The maximum displacement error is less than 0.5 μm during the location tracking process. The operator can precisely perceive 1 μN contact force from the slave. ©, 2014, Science Press. All right reserved.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Line moments and invariants for real time processing of vectorized contour data 8th

引用

8th International Conference on Image Analysis and Processing, ICIAP 1995

作者： Lambert, Georg Gao, Hua Control System Theory and Robotics Dept. Technical University of Darmstadt Landgraf-Georg-Str.4 Darmstadt Germany Institute of Production Engineering and Machine Tools Technical University of Darmstadt Petersenstr. 30 Darmstadt64287 Germany

ISBN: (纸本)3540602984

In this article a new concept for real time analysis of images based on the vectorized contours is presented. Given the polygone approximation of contours the geometric moments can be formulated for line contours. The resulting line moments (LM’s) can be calculated for an arbitrary collection of contour fragments. Neither the existence of an area nor a closed contour is prerequisite to characterize an object by line moments. Due to these properties of the LM’s time consuming preprocessing of noisy object contours is not required. Even objects with structured surfaces can be characterized by LM’s. The formalism to apply the geometric moments to contour patterns is derived. A direct and a recursive algorithm to efficiently compute the LM’s is given. As an application of the LM’s an analysis system for structured textures is presented and results are discussed. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Computers

来源：评论

学校读者我要写书评

暂无评论

Time-Optimal Trajectory Planning Based on Dynamics for Industrial Robot

Time-Optimal Trajectory Planning Based on Dynamics for Indus...

引用

Automation, Control and robotics engineering (CACRE), International Conference on

作者： Rundong Wang Minxiu Kong Yanchun Cheng Marco Castellani School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System University of Birmingham Department of Mechanical Engineering

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Given the trajectory of the industrial robot in Cartesian space, the existing methods only consider the kinematic constraints when optimizing the time trajectory planning, and ignore the maximum driving ability of the motor, which is likely to cause an overrun alarm and greatly reduce the trajectory accuracy. Therefore, this paper studies the timeoptimal trajectory planning algorithm based on dynamics. Firstly, the algorithm discretizes the path, calculates the Cartesian coordinates of each discrete point and the differential about the path length. Then, this algorithm considers the constraints of dynamics and kinematics, uses the principle of linear programming, recursively calculates the upper limit value of speed and the maximum acceleration value at each discrete point, and calculates the speed value at each discrete point and keeps it within its allowable ranges. Finally, this algorithm uses the speed to calculate the corresponding time of each discrete point, and according to the interpolation period, outputs the path position of each period, the position and orientation in the Cartesian space and joint parameters. The MATLAB program is written to verify the feasibility and efficiency of the algorithm.

关键词： industrial robot trajectory planning time-optimal dynamics multiple constraints

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：