检索结果-内蒙古大学图书馆

IEEE Conference on Aerospace

作者： Juan Pablo Molinari Michael C. F. Bazzocchi Department of Mechanical & Aerospace Engineering Astronautics and Robotics Laboratory (ASTRO Lab) Clarkson University Potsdam NY Department of Earth & Space Science & Engineering York University Toronto Canada

Space-based solar power has recently gained significant traction within government and industry as a potential source of renewable energy. Many of the proposed concepts for space-based solar power missions have outlined a need for robotic on-orbit assembly of the large structures required for power collection and beaming. Various advances have been made in space-based solar power system architectures, and some approaches for assembly have recently been outlined. However, frameworks for systematic evaluation of the various methods to deploy and transport components on-orbit, as well as for the traversal and maintenance of the large structure during assembly, have not been proposed to date. Hence, in this paper, a novel framework for the evaluation of design alternatives for component movement and structure maintenance in the assembly of space-based solar power structures is proposed. The framework provides a set of criteria, attribute evaluation strategies, and a multi-criteria decision-making methodology to narrow the design space for on-orbit assembly designs. Finally, the framework was successfully demonstrated on a case study, which featured six design alternatives for the on-orbit assembly of a flat satellite array.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Mathematical Modelling of a Four-Fingered Metamorphic Anthropomorphic Hand on Precision Grasp

Mathematical Modelling of a Four-Fingered Metamorphic Anthro...

引用

ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Tun Wang Yen-Hua Lin Jian S. Dai Department of Mechanical and Electrical Engineering Centre of Advanced Oil and Gas Equipment China University of Petroleum (Beijing) Beijing China Department of Engineering Centre for Robotics Research King's College London London UK Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

For a metamorphic robotic hand with a foldable palm, its finger operation planes change with palm configurations. Although this reconfigurable design can enhance the grasp flexibility, manipulation workspace and application adaptability, the hand's grasp stability cannot be guaranteed when the palm reconfigures. Especially for the four-fingered metamorphic hand performing precision grasps in anthropomorphic postures, improper control of the palm configurations can result in unsuccessful grasps, which may even lead to hand damage. This paper first displays the workspace of the four-fingered anthropomorphic hand for generating precision grasp gestures. Based on it, force-closure/-balance analyses are performed, deriving the effective precision grasp workspace for typical anthropomorphic postures classified by built mathematical definition. Grasp levels are further discussed by introducing an evaluation method which considers the minimum friction coefficient (MFC) as the quality metric. The proposed scheme gives a way to depict the grasp performance of every robotic hand configuration, without considering specific objects that are to be grasped. Dynamic changes in postures' grasp performance with palm configurations are exhibited in the end.

关键词： Measurement Friction Mathematical models Stability analysis Robots Petroleum

来源：评论

学校读者我要写书评

暂无评论

Neural Network-Based Gain Scheduled Position Control of a Pneumatic Artificial Muscle

Neural Network-Based Gain Scheduled Position Control of a Pn...

引用

2022 IEEE International Conference on Electronics, Computing and Communication Technologies, CONECCT 2022

作者： Majumder, Arunabha Sarkar, Debadrata Chakraborty, Sagnik Singh, Abhijit Roy, Shibendu Shekhar Arora, Aman Robotics and Automation Group Durgapur713209 India Ghaziabad201002 India National Institute of Technology Durgapur Department of Mechanical Engineering Durgapur713209 India

ISBN: (数字)9781665497817

ISBN: (纸本)9781665497817

The pneumatic artificial muscle (PAM) is considered one of the most preferred actuators in a variety of robotic and industrial applications. However, due to their inherent nonlinearities and hysteretic properties, they are difficult to model and the controller's design becomes more sophisticated. The position control problem of a PAM having different regions of operations at various axial loads is considered in this paper. A neural network-based gain scheduled proportional-integral-derivative (PID-NN) control scheme has been synthesized and compared to the classical linear PID controllers. The PID gains for different operating regions at different loads are determined using Zeigler Nichols sustained oscillation method. These sets of PID gains are then used to determine the neural network (NN) model that schedules them based on the region of operations and axial loads. To validate the efficacy of the proposed control scheme with regards to different step inputs and a sinusoidal input reference tracking performance, experimental studies are conducted, and comparisons have been made with the PID controller. The experimental results for position control confirm the efficacy of the proposed control strategy. © 2022 IEEE.

关键词： Three term control systems

来源：评论

学校读者我要写书评

暂无评论

Gallium Oxide Schottky Barrier Diodes for Alpha Spectroscopy

Gallium Oxide Schottky Barrier Diodes for Alpha Spectroscopy

引用

2022 Transactions of the American Nuclear Society Annual Meeting, ANS 2022

作者： Heckert, Christopher Taylor, Neil R. Dhara, Sushovan Rajan, Siddharth Cao, Lei R. Blue, Thomas E. Department of Mechanical and Aerospace Engineering Nuclear Engineering Program The Ohio State University ColumbusOH43210 United States Department of Electrical and Computer Engineering The Ohio State University ColumbusOH43210 United States

来源：评论

学校读者我要写书评

暂无评论

Distributed Inverse Dynamics Control for Quadruped Robots using Geometric Optimization

arXiv

引用

arXiv 2024年

作者： Khandelwal, Nimesh Manu, Amritanshu Gupta, Shakti S. Kothari, Mangal Krishnamurthy, Prashanth Khorrami, Farshad Deptartment of Mechanical Engineering IIT Kanpur UP Kanpur India Department of Electrical and Computer Engineering New York University BrooklynNY United States Mobile Robotics Laboratory Department of Mechanical Engineering IIT Kanpur UP Kanpur208016 India

This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints, and the high computational requirements of whole-body controllers. Current methods either ignore friction constraints entirely or use linear approximations, leading to potential slip and instability, while comprehensive whole-body controllers demand significant computational resources. Our approach uses full rigid-body dynamics and enforces exact friction cone constraints through a novel geometric optimization-based solver. DIDC combines the required generalized forces corresponding to the actuated and unactuated spaces by projecting them onto the actuated space while satisfying the physical constraints and maintaining orthogonality between the base and joint tracking objectives. Experimental validation shows that our approach reduces foot slippage, improves orientation tracking, and converges at least two times faster than existing reactive controllers with generic QP-based implementations. The controller enables stable omnidirectional trotting at various speeds and consumes less power than comparable methods while running efficiently on embedded processors. © 2024, CC BY-SA.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

PRISM: A Polyhedral Reflective Imaging Scanning Mechanism for Hyperspectral Applications

PRISM: A Polyhedral Reflective Imaging Scanning Mechanism fo...

引用

IEEE International Conference on robotics and Biomimetics

作者： Zheng Sun Zhipeng Dong Shixiong Wang Fei Chen Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong SAR

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Hyperspectral imaging has become essential in fields such as waste sorting and agriculture due to its ability to capture detailed spectral information. However, conventional hyperspectral imaging systems typically rely on mechanical movements, such as conveyor belts or linear stages, to scan the target objects, which limits their applicability in environments with static targets or space constraints. To address these challenges, we present PRISM (Polyhedral Reflective Imaging Scanning Mechanism), a novel system that facilitates rapid and high-precision imaging of stationary objects by leveraging a polyhedral reflective structure, thereby eliminating the need for external relative motion. Experimental evaluations demonstrate that PRISM can achieve full spatial-spectral data of 512 by 727 pixels with 448 bands in 2.01 seconds, while maintaining high spectral accuracy, with a reflectance standard deviation of 0.015. We further validate PRISM's effectiveness through textile waste sorting experiments, where PRISM accurately differentiates between various material types at both the pixel and object levels, showcasing its potential for practical applications in industrial settings.

关键词： Reflectivity Accuracy Service robots Cameras Belts Robustness Standards Hyperspectral imaging Sorting Textiles

来源：评论

学校读者我要写书评

暂无评论

Direct Teaching/Playback Method for the Contact Task of a Six-DOF Manipulator Using a Parallel-Wire-Type Teaching Device with a Remote Center Compliance Device 23

Direct Teaching/Playback Method for the Contact Task of a Si...

引用

23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Okochi, Tatsuya Sakai, Masao Morita, Yoshifumi Graduate School of Engineering Nagoya Institute of Technology Electrical and Mechanical Engineering Program Department of Engineering Gokiso-cho Aichi Nagoya466-8555 Japan Industrial Research Center Aichi Center for Industry and Science Technology Onda-cho 1-157-1 Aichi Kariya-shi448-0013 Japan Nagoya Institute of Technology Department of Electrical and Mechanical Engineering Gokiso-cho Showa-ku Aichi Nagoya466-8555 Japan

ISBN: (纸本)9788993215274

This study proposes a direct teaching method for the task of pressing an end effector attached to a robot manipulator against a workpiece with a constant force. When performing contact tasks, such as deburring or polishing using a manipulator, a passive compliance is required for the end effector to suppress excessive contact force and impact. Therefore, we developed an end effector that combines a 'parallel wire-type teaching device,' which enables direct teaching, and a compliance device. In the case of pressing a workpiece with a constant force, after teaching the robot's trajectory to trace the edge of the workpiece, the amount of pressing can be calculated from the stiffness of the end effector and the desired pressing force;the robot's trajectory can be edited to teach contact tasks. An experiment was conducted to press a straight trajectory with a constant force as the target value and evaluate the accuracy of force teaching. © 2023 ICROS.

关键词： End effectors

来源：评论

学校读者我要写书评

暂无评论

Input Shaping for Control of a High-Resolution Electrohydrodynamic Jet Printing Process

Input Shaping for Control of a High-Resolution Electrohydrod...

引用

Control Technology and Applications (CCTA),

作者： Nazanin Farjam Maxwell Wu Angelo Hawa Kira Barton Department of Mechanical Engineering University of Michigan Ann Arbor MI USA Departments of Robotics and Mechanical Engineering University of Michigan Ann Arbor MI USA

Electrohydrodynamic jet (e-jet) printing is a high-resolution, additive manufacturing process capable of printing micro/nanometer scale patterns for applications in electrical and optical sensors. Despite stringent design requirements to achieve functional printed sensors, most e-jet printers operate in an open-loop paradigm, shaping the input signal as a standard square voltage with constant low baseline and high peak voltages, and a set pulse duration to induce droplet ejections. These constant input values limit the volume and droplet spacing to set magnitudes, while unmodelled dynamics within the process may result in inaccurately printed patterns. In order to achieve more complex deposition patterns while mitigating the effects of unmodeled jetting dynamics, this paper presents an input shaping framework that allows for the design of variable jetting frequencies and volumes and compensates for unmodeled dynamics through data-driven updates observed across repetitive droplet ejections. Simulation results demonstrate the efficacy of the proposed approach.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Human Hand Gesture Recognition System Using Body Sensor Network 4

Human Hand Gesture Recognition System Using Body Sensor Netw...

引用

4th International Conference on robotics and Automation in Industry, ICRAI 2021

作者： Maheen, Asra Bin Shahzad, Moosa Asif, M. Usama Ahmad, Syed Fasih Zafar, Saqib Maqbool, H. Farhan Usman, Muhammad Arshad, Hira Department of Mechanical Mechatronics And Manufacturing Engineering Faisalabad Pakistan Human-Centered Robotics Lab National Center of Robotics And Automation Lahore Pakistan Pakistan Engineering Council Islamabad Pakistan Department of Mechanical Mechatronics And Manufacturing Engineering Faisalabad Pakistan

ISBN: (纸本)9781665423434

Wearable technology has gained massive popularity for applications in healthcare in recent years. Body sensor network (BSN) includes wearable sensors such as Myoware muscle sensor that can capture electromyography (EMG) signal from human muscles during a movement. This study involves the control of a 3d prosthetic hand using EMG data of basic hand gestures from healthy subjects and operating the prosthetic hand with this classified data. Artificial Neural Networks (ANN) are biologically inspired computational networks which help to build predictive models from large databases. Backpropagation combined with feedforward ANN is used to classify data here. Classification results showed an accuracy of about 91% for four-hand gestures - hand closed, hand open, pointing index finger, and pinch motion. The BSN-based prosthetic hand can facilitate rehabilitation of amputees, perform surgery using recorded EMG data from a surgeon's hands and reduce industrial manpower in the future. © 2021 IEEE.

关键词： Neural networks

来源：评论

学校读者我要写书评

暂无评论

Impact of whole-body vibrations on electrovibration perception varies with target stimulus duration

arXiv

引用

arXiv 2024年

作者： Vuik, Jan D.A. Pool, Daan M. Vardar, Yasemin Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology Delft Netherlands Department of Control and Operations Faculty of Aerospace Engineering Delft University of Technology Delft Netherlands

Objective: This study explores the impact of whole-body vibrations induced by external vehicle perturbations, such as aircraft turbulence, on the perception of electrovibration displayed on touchscreens. Background: Electrovibration holds promise as a technology for providing tactile feedback on future touchscreens, addressing usability challenges in vehicle cockpits. However, its performance under dynamic conditions, such as during whole-body vibrations induced by turbulence, still needs to be explored. Method: We measured the absolute detection thresholds of 15 human participants for short- and long-duration electrovibration stimuli displayed on a touchscreen, both in the absence and presence of two types of turbulence motion generated by a motion simulator. Concurrently, we measured participants’ applied contact force and finger scan speeds. Results: Significantly higher (38%) absolute detection thresholds were observed for short electrovibration stimuli than for long stimuli. Finger scan speeds in the direction of turbulence, applied forces, and force fluctuation rates increased during whole-body vibrations due to biodynamic feedthrough. As a result, turbulence also significantly increased the perception thresholds, but only for short-duration electrovibration stimuli. Conclusion: The results reveal that whole-body vibrations can impede the perception of short-duration electrovibration stimuli, due to involuntary finger movements and increased normal force fluctuations. Application: Our findings offer valuable insights for the future design of touchscreens with tactile feedback in vehicle cockpits. © 2024, CC BY-NC-SA.

关键词： Turbulence

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：