检索结果-内蒙古大学图书馆

Control of a Two-wheeled Self-balancing Robot With a Sliding Mechanism

Journal of Institute of Control, robotics and Systems 2025年第1期31卷 37-43页

作者： Kim, David Kim, Hyun Seok Choi, Dongil Department of Mechanical Engineering Myongji University Korea Republic of Smart Robotics Team Hyundai Rotem Korea Republic of

Two-wheeled self-balancing robot maintains balance and performs driving functions using two wheels, featuring excellent mobility due to its simple structure and wheel-driven system. However, when a long longitudinal structure is applied to increase space efficiency, challenges may arise in balance control and slope entry. In this study, a sliding mechanism and Model Predictive Control (MPC) were applied to achieve balance and driving control for a robot with a long longitudinal body. The system dynamics were analyzed using the Lagrangian method, and a reference for the sliding mechanism was generated to support balance control. Through Gazebo simulations, the performance of the MPC algorithm was verified, confirming that the robot could reach a stable balance state through Swing-up motion and maintain balance consistently. Additionally, stable driving performance was demonstrated in slope driving tests. We conducted experiments by applying the same algorithm to the actual robot, confirming that it successfully performed stable balance control and slope driving control in real-world environments. © ICROS 2025.

关键词： Model predictive control

来源：评论

学校读者我要写书评

暂无评论

Modeling tactile perceived intensity for vibration from a coin eccentric rotating mass motor

引用

Science China(Technological Sciences) 2025年第2期68卷 125-135页

作者： Yun FANG Jingchen HUANG Yujun WU Jiaqi DONG Weichao GUO Xinjun SHENG State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical *** eccentric rotating mass(ERM)motors are routinely utilized due to their lightweight design and efficient ability to evoke strong tactile *** adjusting input voltages,ERMs can yield different stimuli,but the effects of their physical properties on PI remain ***,we developed the physical model of the ERM-skin system and optimized the parameters affecting ***,the relationship between stimulus and perception was derived based on Fechner's *** experiments were conducted on fifteen subjects(ten males and five females,aged 24.40±2.87 years)to identify the vibration parameters and corresponding PI to verify the proposed PI *** in this study were attached to phantom skin/forearm with slim adhesive tape to minimize the *** 1 performed vibration calibration with ERM attached to the skin phantom to simulate the actual ***,the relative and absolute PI of subjects on specific stimuli were acquired in Experiments 2 and *** fitting reliability of the proposed PI model was evaluated on fifteen subjects with R^(2) of 0.73±0.07 and root mean squared error(RMSE)of 1.35±***,the proposed PI model established the quantitative relationship between stimulus parameters(vibration parameters and physical parameters)and subjective PI,which provided theoretical support for ERM optimization and vibrotactile modulation.

关键词： coin ERM vibrotactile perceived intensity vibration

来源：评论

学校读者我要写书评

暂无评论

A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications

引用

Journal of Bionic engineering 2025年第2期22卷 684-702页

作者： Debadrata Sarkar Amit Kumar Aman Arora Human Centered Robotics and Cybernetics Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia Advanced Design and Analysis Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia

This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.

关键词： Virtual reality and interfaces Tactile feedback Haptics and haptic interfaces Soft sensors and actuators

来源：评论

学校读者我要写书评

暂无评论

Design and Analysis of a Novel Sch?nflies Motion Parallel Robot with Full Cycle Rotation

引用

Chinese Journal of mechanical engineering 2024年第6期37卷 441-455页

作者： Luquan Li Yuefa Fang Lin Wang Jiaqiang Yao Institute of AI and Robotics Academy for Engineering and TechnologyFudan UniversityShanghai 200433China School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China

Due to the complex structures of multi-limbed parallel robots,conventional parallel robots generally have limited workspace,complex kinematics,and complex dynamics,which increases the application difficulty of parallel robot in industrial *** solve the above problems,this paper proposes a single-loop Sch?nflies motion parallel robot with full cycle rotation,the robot can generate Sch?nflies motion by the most simplified *** novel Sch?nflies motion parallel robot is a two-limb parallel mechanism with least links and joints,and each limb is driven by a 2-degree of freedom(DOF)cylindrical driver(C-driver).The full cycle rotation of the output link is achieved by“…R-H…”structure,where the revolute(R)and helical(H)joints are ***,kinematics,workspace and singularity analysis of the novel Sch?nflies motion parallel robot are ***,dynamic model is formulated based on the principle of virtual ***,a pick-and-place task is implemented by the proposed Sch?nflies motion parallel robot and a serial SCARA robot,*** simulation results verify the correctness of the theoretical ***,dynamics performances of the proposed Sch?nflies motion parallel robot and a serial SCARA robot are compared,which reveal the performance merits of the proposed Sch?nflies motion parallel robot.

关键词： Single-loop parallel robot Schönflies motion Virtual work principle Dynamics

来源：评论

学校读者我要写书评

暂无评论

Understanding the Machining Process of Hierarchical Micro/Nanograting Structures Used for Optical Variable Device

引用

Chinese Journal of mechanical engineering 2025年第1期38卷 161-185页

作者： Yanquan Geng Wenhan Zhu Xiaosong Zhang Aoxiang Zhang Yongda Yan Hailong Cui Bo Xue Jiqiang Wang TState Key Laboratory of Robotics and Systems Robotics InstituteHarbin Institute of TechnologyHarbin 150080China Sichuan Precision and Ultra-Precision Machining Engineering Technology Center Chengdu 610200China College of Mechanical and Electrical Engineering Northeast Forestry UniversityHarbin 150040China

Hierarchical micro/nanograting structures have attracted increasing attention owing to their significant applications in the fields of structural coloring,anti-counterfeiting,and ***,the fabrication of hierarchical micro/nanograting structures is important for these *** this study,a strategy for machining hierarchical micro/nanograting structures is developed by controlling the tool movement trajectory.A coupling Euler-Lagrange finite element model is established to simulate the machining *** effect of the machining methods on the nanograting formation is demonstrated,and a suitable machining method for reducing the cutting force is *** height of the nanograting decreases with an increase in the tool edge ***,optical variable devices(OVDs)are machined using an array overlap machining *** schemes for the parallel column unit crossover and column unit in the groove crossover are designed to achieve high-quality machining of *** coloring of the logo of the Harbin Institute of Technology and the logo of the centennial anniversary of the Harbin Institute of Technology on the surface of metal samples,such as aluminum alloys,is *** findings of this study provide a method for the fabrication of hierarchical micro/nanograting structures that can be used to prepare OVDs.

关键词： Hierarchical micro/nanograting structures Optical variable devices Finite element simulation Tool trajectory controlling

来源：评论

学校读者我要写书评

暂无评论

How Sure is the Driver? Modelling Drivers’ Confidence in Left-Turn Gap Acceptance Decisions

引用

Computational Brain and Behavior 2024年第3期7卷 437-456页

作者： Bontje, Floor Zgonnikov, Arkady Department of Cognitive Robotics Faculty of Mechanical Engineering Delft University of Technology

When a person makes a decision, it is automatically accompanied by a subjective probability judgment of the decision being correct, in other words, a confidence judgment. A better understanding of the mechanisms responsible for these confidence judgments could provide novel insights into human behavior. However, so far confidence judgments have been mostly studied in simplistic laboratory tasks while little is known about confidence in naturalistic dynamic tasks such as driving. In this study, we made a first attempt of connecting fundamental research on confidence with naturalistic driver behavior. We investigated the confidence of drivers in left-turn gap acceptance decisions in a driver simulator experiment (N = 17). We found that confidence in these decisions depends on the size of the gap to the oncoming vehicle. Specifically, confidence increased with the gap size for trials in which the gap was accepted, and decreased with the gap size for rejected gaps. Similarly to more basic tasks, confidence was negatively related to the response times and correlated with action dynamics during decision execution. Finally, we found that confidence judgments can be captured with an extended dynamic drift–diffusion model. In the model, the drift rate of the evidence accumulator as well as the decision boundaries are functions of the gap size. Furthermore, we demonstrated that allowing for post-decision evidence accumulation in the model increases its ability to describe confidence judgments in rejected gap decisions. Overall, our study confirmed that principles known from fundamental confidence research extend to confidence judgments in dynamic decisions during a naturalistic task. © The Author(s) 2024.

关键词： Confidence Decision making Driver behavior Evidence accumulation Metacognition

来源：评论

学校读者我要写书评

暂无评论

JADFER: Exploring Spatial-Contextual Interaction With Joint Attention Dropping for Facial Expression Recognition

引用

IEEE Transactions on Affective Computing 2025年第2期16卷 655-668页

作者： Gao, Yu Ren, Weihong Jiang, Weibo Dong, Qian Nie, Wei Wu, Wenhao Liu, Honghai Harbin Institute of Technology State Key Lab of Robotics and Systems School of Mechanical Engineering and Automation Shenzhen518055 China

Facial Expression Recognition (FER) aims to cate-gorize emotional expressions depicted on a human face, and isa challenging task under unconstrained conditions, such as faceocclusions and pose variations. Recent methods usually adopt selfattention or cross attention to explore global or local relationshipsamong different level features. However, these methods are inclinedto focus on the redundant facial regions, causing model *** address this problem, we propose a new FER model namedJADFER, which drops the joint attention in the weight matrix toadaptively enhance facial expression representations. Specifically,our JADFER model consists of three components: Spatial Branch(SB), Contextual Branch (CB), and Spatial-Contextual Interaction(SCI). First, SB runs N paths in parallel, where a Variety loss is de-signed to guide the paths of SB to focus on different discriminativeregions. Meanwhile, CB abstracts the contextual facial represen-tations using self attention with Joint Attention Dropping (JAD).Then, the SCI adopts the spatial features from SB to query thecontextual representations from CB through cross attention withJAD, which regulates the attention weights by dropping the similaractivations to further enhance the facial embeddings. Experimen-tal results demonstrate that the proposed model outperforms thestate-of-the-art methods on several FER benchmarks. © 2010-2012 IEEE.

关键词： Face recognition

来源：评论

学校读者我要写书评

暂无评论

Motion Attitude and Aerodynamic Characteristics Research of Flapping Wings Driven by Micro Servoactuator

引用

Journal of Bionic engineering 2024年第6期21卷 2830-2846页

作者： Tianyou Mao Bosong Duan Bihui Yin Chuangqiang Guo State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China

Compared to the traditional flapping-wing structure with single motion mode,a micro servoactuator driven Flapping-Wing Air Vehicle(FWAV)breaks free from the limitations imposed by the motion parameters of the crank-connecting rod *** allows for simultaneous control of wings’position and velocity attitude through pulse width modulation,showcasing unrivaled controllability and promising extensive ***,this method of motion control also brings new challenges to the design of the wings’motion *** study seeks to investigate the relationship between the motion parameters of micro servoactuator driven FWAV and its aerodynamic characteristics,then explore a servo control method that can optimize its thrust-producing *** achieve this,this paper involves the establishment of Amplitude Loss Model(ALM),Flapping Wing Dynamic Model(FWDM),and Power Load Model(PLM),followed by motion capture experiments,dynamic monitoring experiments,and power monitoring *** results show that the proposed modeling method,which fully considers the amplitude loss effect and advanced twisting effect in flapping-wing motion,can accurately calculate thrust,power,and power load,with prediction errors of less than 10%,5%and 13%,*** high-precision model can effectively optimize motion parameters,allowing for better performance of flapping-wing motion.

关键词： Flapping wing Micro servoactuator Motion attitude Aerodynamic model

来源：评论

学校读者我要写书评

暂无评论

Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

引用

Chinese Journal of mechanical engineering 2024年第5期37卷 349-364页

作者： Hao Zheng Chenbo Liang Feng Gao Chenkun Qi Bingze He Renqiang Liu Longhai Chen State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200030China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200030China

The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise *** turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion *** response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning *** introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance *** address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is *** designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron *** experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot *** research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.

关键词： Medical surgical robot Macro-micro integrated system Modular parallel mechanism High-precision robot

来源：评论

学校读者我要写书评

暂无评论

Performance Analysis of Re-ID in YOLOv9 and BoT-SORT Algorithm for Multi-object Detection and Tracking

引用

Journal of Institute of Control, robotics and Systems 2025年第2期31卷 160-165页

作者： Young Kim, Sun Ho Kang, Chang School of Mechanical Engineering Kunsan National University Korea Republic of Department of Artificial Intelligence and Robotics Sejong University Korea Republic of

This paper proposes a method for integrating YOLOv9 and BoT-SORT algorithms for multi-object tracking in a multi-camera environment. Particularly, it focuses on analyzing the impact of re-identification (Re-ID) techniques on the overall tracking system performance. Three Re-ID methods-MobileNetV2, OSNet, and OSNet-AIN-are evaluated using the MSMT17 dataset and then applied to the BoT-SORT algorithm to compare multi-object tracking performances. Experimental results show that BoT-SORT with OSNet-AIN achieves the best performance in HOTA, MOTA, and IDF1 metrics. This demonstrates that effective Re-ID techniques can significantly contribute to improving object tracking performance in complex real-world environments. © ICROS 2025.

关键词： Object detection

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：