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1st IEEE Conference on Telepresence, Telepresence 2024

作者： Dinc, Huseyin Tugcan Hulin, Thomas Rothammer, Michael Seong, HyeonSeok Willberg, Bertram Pleintinger, Benedikt Ryu, Jee-Hwan Ott, Christian IRiS Lab. Daejeon34141 Korea Republic of Institute of Robotics and Mechatronics Wessling82234 Germany United States Hapticslabs GmbH Dresden01067 Germany Tu Wien Automation and Control Institute Vienna1040 Austria

ISBN: (纸本)9798331528249

This paper presents the CoaxHaptics-3RRR, a novel concept for haptic interaction devices that is based on a 3-RRR spherical parallel mechanism (SPM). The novelty lies in its mechanical overdetermination through a central hollow shaft, which brings two advantages. First, the device can be built with high rigidity with regard to translational degrees of freedom (DoF). Second, it enables a lighter design with less rotational inertia, as the moving links do not need to withstand translational or gravitational forces. In order to fully exploit these advantages, an optimization process has been conducted that simultaneously optimized for workspace, manipulab.lity, inertia, and structural stiffness. The resulting functional demonstrator provides an unlimited workspace around the shaft axis and +/- 55 degrees in the other two rotational DoF, thus covering a large portion of the human wrist's rotational range. Tests confirm the validity and superiority of the concept over existing devices, making it a promising solution for the category of mechanically overdetermined haptic devices. © 2024 IEEE.

关键词： Haptic interfaces

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Simulation Platform for Self-assembly Structures in MRI-guided Nanorobotic Drug Delivery Systems

Simulation Platform for Self-assembly Structures in MRI-guid...

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IEEE International Conference on robotics and automation (ICRA)

作者： Vartholomeos, Panagiotis Mavroidis, Constantinos Zenon Automation Technologies S.A. Greece Control Systems Lab. Department of Mechanical Engineering National Technical University of Athens Greece Bionano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States

ISBN: (纸本)9781424450404

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllab.e manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving superparamagnetic nanocapsules against the blood flow and therefore these MRIs do not allow for navigation. The present paper proposes a way to overcome this critical drawback through the formation of micron size agglomerations where their size can be regulated by external magnetic stimuli. This approach is investigated through modeling of the physics that govern the self-assembly of the nanoparticles. Additionally a computational tool has been developed that incorporates the derived models and performs simulation, visualization and post-processing analysis. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result -in accordance with similar experimental results- and encourages further investigation on the nanoparticle based self-assembly structures for use in nanorobotic drug delivery.

关键词： Magnetic resonance imaging

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Soft computing approach for modelling the supervisor of manufacturing systems

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Journal of Intelligent and Robotic Systems: Theory and Applications 1999年第3期26卷 389-403页

作者： Stylios, C.D. Groumpos, P.P. Lab. for Automation and Robotics Dept. of Elec. and Comp. Engineering University of Patras Rion 26500 Greece

The development of a novel soft computing approach to model the supervisor of manufacturing systems is described, it is named Fuzzy Cognitive Maps (FCMs) and it is used to model the behaviour of complex systems. Fuzzy cognitive maps combine characteristics of both fuzzy logic and neural networks. The description and the construction of fuzzy cognitive maps are examined, a new methodology for developing fuzzy cognitive maps is proposed here and as an example the fuzzy cognitive map for a simple plant is developed. A hierarchical two-level structure for supervision of manufacturing systems is presented, where the supervisor is modelled as a fuzzy cognitive map. The fuzzy cognitive map model for the failure diagnosis part of the supervisor for a simple chemical process is constructed.

关键词： Computer integrated manufacturing

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Production planning for complex plants using fuzzy cognitive maps 7

Production planning for complex plants using fuzzy cognitive...

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7th IFAC Workshop on Intelligent Manufacturing Systems, IMS 2003

作者： Christova, Nikolinka G. Stylios, Chrysostomos D. Groumpos, Peter P. Lab. for Automation and Robotics Dept. of Electrical and Computer Engineering University of Patras Rion Patras26500 Greece Computer Science Dept. University of Ioannina P.O. Box 1186 Ioannina45510 Greece

This work emphasizes on the implementation of soft computing techniques for the production planning of complex manufacturing plants. A hierarchical control structure has been assumed to control and to optimize the chemical process of a complex plant with successful results and at the highest hierarchical level the production planning should meet the fluctuating demands in optimal way. This level integrates the operational and business management requirements where the soft computing technique of Fuzzy Cognitive Maps is proposed to model these tasks. The strategic planning for the hierarchical integrated system realizes the optimal total management at the corporate level. The obtained simulation results prove the applicability of the proposed methodology and the advantages of using soft computing modeling techniques for the sophisticated high level of hierarchical systems. © 2003 IFAC.

关键词： Industrial plants

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Edge Detection Operator for Underwater Target Image 3

Edge Detection Operator for Underwater Target Image

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3rd IEEE International Conference on Image, Vision and Computing, ICIVC 2018

作者： Xiaoheng, Dong Minghang, Li Jiashu, Miao Zhengyu, Wang Shanghai Marine Electronic Equipment Research Institute Shanghai China Shanghai University Key Lab. of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China Shanghai Aerospace Control Technology Institute Shanghai China

ISBN: (纸本)9781538649916

Image edge detection is an important basis for image recognition extraction. The traditional segmentation algorithm can't effectively extract important edge information of digital image. In view of the low contrast and edge blur of underwater image, a new feature based on wavelet transform Edge extraction algorithm has been proposed. On the basis of this, an edge detection method based on the details of two-dimensional image wavelet decomposition is further studied. This method eliminates a large number of remaining edges and false edges, and the feature edge of the image is extracted effectively, so it provides reliable information for the subsequent target recognition. © 2018 IEEE.

关键词： Wavelet decomposition

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Interconnection of the behavior-based control architecture and a detailed mechatronic machine model for realistic behavior verification of the THOR project 43

Interconnection of the behavior-based control architecture a...

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43. Jahrestagung der Gesellschaft fur Informatik e.V. ,GI, Informatik Angepasst an Mensch, Organisation und Umwelt, Informatik 2013 - 43rd Annual Meeting of the German Informatics Society (GI), Computer Science Adapting to Individuals, Organizations and Environment, Informatics 2013

作者： Schmidt, Daniel Juhasz, Tamas Berns, Karsten Schmucker, Ulrich Robotics Research Lab. Department of Computer Science University of Kaiserslautern Gottlieb-Daimler-Strasse Building 48 KaiserslauternD-67653 Germany Fraunhofer Institute for Factory Operation and Automation IFF Sandtorstrasse 22 MagdeburgD-39106 Germany

ISBN: (纸本)9783885796145

The enclosing THOR (Terraforming Heavy Outdoor Robot) project's goal is to perform typical tasks of a bucket excavator autonomously, like landscaping, mass excavation, or material transport on construction or mining sites. The paper at hand presents an approach for close interoperateration between its reactive behavior-based control approach for highly dynamic environments with a lot of disturbances and a realistic dynamic simulation of the robot for safe parameter evaluation under given time boundaries. © 2013 Lecture Notes in Informatics (LNI), Proceedings - Series of the Gesellschaft fur Informatik (GI).

关键词： Excavation

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Dynamics Analysis of a Novel Underwater Vectored Thruster Based on 3-PPS Parallel Mechanism 3

Dynamics Analysis of a Novel Underwater Vectored Thruster Ba...

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3rd International Symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Jiang, Dexin Zheng, Tianjiang Tian, Yingzhong Li, Huamin Zhang, Chi Yang, Guilin Shanghai University School of Mechatronic Engineering and Automation Shanghai China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Zhejiang Key Lab. of Robotics and Intelligent Manufacturing Equipment Technology and Engineering Ningbo China

ISBN: (纸本)9781665437189

Underwater vectored thrusters can effectively improve the maneuverability and agility of underwater vehicles, which have already become one of the preferences for underwater vehicles. This paper presents a novel underwater vectored thruster based on a 3-PPS parallel mechanism, taking advantage of low inertial, high stiffness, compact structure, and good dynamic performance. Focused on the design and analysis of the presented novel thruster, an inverse kinematics solution was studied, and a closed-form dynamics model including partial hydrodynamics elements utilizing D'Alembert's principle was also constructed. The dynamic model was verified by the method of simulation experiments. The dynamics results show that the maximum value of the driving force of each limb is less than 500N under a given test trajectory and a rated thrust, which helps for the system actuators' selection, optimization of mechanical structure, and design of a highly reliable control. © 2021 IEEE.

关键词： Maneuverability

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Decoding of color coded structured light using a new color feature 4

Decoding of color coded structured light using a new color f...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Tang, Su Ming Zhang, Xu Tu, Da Wei School of Mechatronic Engineering and Automation Shanghai University Shanghai China State Key Lab. of Digital Manufacturing Equipment and Technology in Huazhong University of Science Technology Wuhan China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9783038352532

In this paper, color coded structured light based on pseudo-random sequence is adopted, and a new decoding method is proposed. It includes three steps. First, the stripe centers are extracted through the use of peak detection. Second, the stripe colors are identified using k-means clustering algorithm on a new color feature with high discriminating power. This feature is related to the spectral sensitivity of red, green and blue sensors, the direction of the illumination source, the normal and albedo of the surface, and the spectral power distribution of the incident light, but it is insensitive to the intensity. Finally, a four-step matching method is presented in sequence matching, which is aim to match the subsequences with the length less than the window size. The experimental results show that our proposed decoding method has advantage of high accuracy. © (2014) Trans Tech Publications, Switzerland.

关键词： Color

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Modeling and multilevel control of complex multistage processes with recycles and intermediate storages

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IFAC Proceedings Volumes 2000年第20期33卷 227-232页

作者： Peter P. Groumpos Mincho В. Hadjiski Kosta P. Boshnakov Nikolinka G. Christova Lab. for Automation & Robotics Dept. of Electrical & Computer Engineering University of Patras 26500 Rion Patras GREECE Department of Automation in Industry University of Chemical Technology and Metallurgy 1756 Sofia BULGARIA

A multilevel hierarchical control system for a single end product multistage plant is under consideration. It is shown that a variety of models and/or hybrid modeling are reasonable for inferred key variable forming, monitoring and control. Because of the complexity, uncompleted information, large uncertainties and mixture of batch, semi-batch and continuous processes different control strategies are appropriate for each hierarchical level. Two level reactive scheduler is proposed. Integration of operational and business management is carried out at the top hierarchical level using Fuzzy Cognitive Maps (FCM) approach. Some results of practical application of the system are reported.

关键词： modeling hierarchical control production planning scheduling

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Design and development of a wearable rehabilitation robot

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4th International Conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Guo, Weian Zhao, Zhen Zhang, Jie Xiao, Shengtao Nuraisha, Fon Ping Quek Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9783642341021

In this paper, we present the design and development of a wearable robot for the lower limb rehabilitation including the mechanical, electrical system, software implementation, etc. To make the robot wearable and portable and simplify the mechanism structure, servo motors are used as robot's joints. A friendly human robot interface is designed to make the robot easy to use. The dynamics of the robot is described by a 2-link rigid robotic manipulator in the joint space. The simulation results are given to demonstrate the feasibility and effectiveness of the designed lower limb rehabilitation robot-assisted system. © 2012 Springer-Verlag.

关键词： Machine design

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