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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Bjelonic, Marko Homberger, Timon Kottege, Navinda Borges, Paulo Chli, Margarita Beckerle, Philipp Robotic Systems Lab ETH Zürich Zürich8092 Switzerland Autonomous Systems Group CSIRO PullenvaleQLD4069 Australia Department of Mechanical and Process Engineering ETH Zurich Zurich8092 Switzerland Vision for Robotics Lab ETH Zürich Zurich8092 Switzerland Institute for Mechatronic Systems in Mechanical Engineering Technische Universitat Darmstadt Darmstadt64287 Germany

ISBN: (纸本)9781509046331

This work introduces a novel hybrid control architecture for a hexapod platform (Weaver), making it capable of autonomously navigating in uneven terrain. The main contribution stems from the use of vision-based exteroceptive terrain perception to adapt the robot's locomotion parameters. Avoiding computationally expensive path planning for the individual foot tips, the adaptation controller enables the robot to reactively adapt to the surface structure it is moving on. The virtual stiffness, which mainly characterizes the behavior of the legs' impedance controller is adapted according to visually perceived terrain properties. To further improve locomotion, the frequency and height of the robot's stride are similarly adapted. Furthermore, novel methods for terrain characterization and a keyframe based visual-inertial odometry algorithm are combined to generate a spatial map of terrain characteristics. Localization via odometry also allows for autonomous missions on variable terrain by incorporating global navigation and terrain adaptation into one control architecture. Autonomous runs on a testbed with variable terrain types illustrate that adaptive stride and impedance behavior decreases the cost of transport by 30 % compared to a non-adaptive approach and simultaneously increases body stability (up to 88 % on even terrain and by 54 % on uneven terrain). Weaver is able to freely explore outdoor environments as it is completely free of external tethers, as shown in the experiments. © 2017 IEEE.

关键词： Motion planning

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Restoration of Movement using FES: An Introductory Study I

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IOP Conference Series: Materials Science and engineering 2018年第1期341卷

作者： M. Ahmed M. S. Huq B. S. K. K. Ibrahim Department of Mechatronics and Robotic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Parit Raja Batu Pahat Johor Malaysia. Advance Mechatronic and Robotic Research Group (AdMiRe) Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia 86400 Parit Raja Batu Pahat Johor Malaysia. Department of Electrical and Electronics Engineering Faculty of Engineering and Engineering Technology Abubakar Tafawa Balewa University P. M. B. 0248 Bauchi Bauchi State Nigeria.

FES has been applied for movement restoration, rehabilitation and therapy in spinal cord injury and nervous system failure subjects, whose number rise worldwide every year. Despite the increase, assist devices that are expected to aid healthcare delivery are not in abundance and could be as a result of standards imposed due to the sensitive condition of the subjects. Although closed loop control systems are expected to positively aid in that regards, the delicacy of the plant was a big constraint. An existing model from the works Ferrarin and Pedotti was elaborated from the knee swinging to the sit-to-stand movements and from the two mathematical models it can be inferred that even though similar higher level of excitation would be required for sit-to-stand manoeuvre. As part of research to improve on closed approach for the FES system, an appraisal was successfully done on the neuromuscular model together with fatigue models from the works on Lynch. The remodelled fatigue models to suit the research were presented.

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Autonomous navigation of hexapod robots with vision-based controller adaptation

Autonomous navigation of hexapod robots with vision-based co...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Marko Bjelonic Timon Homberger Navinda Kottege Paulo Borges Margarita Chli Philipp Beckerle Autonomous Systems Group Robotic Systems Lab Pullenvale OLD Australia Department of Mechanical and Process Engineering Autonomous Systems Group Pullenvale OLD Australia Autonomous Systems Group Pullenvale OLD Australia Vision for Robotics Lab Switzerland Institute for Mechatronic Systems in Mechanical Engineering Technische Universität Darmstadt Darmstadt Germany

关键词： Legged locomotion Weaving Foot Trajectory Impedance Robot sensing systems

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Wavelet based feature extraction for classification of motor imagery signals

Wavelet based feature extraction for classification of motor...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： F. Sherwani Shahnoor Shanta B. S. K. K. Ibrahim M. Saiful Huq Advanced Mechatronic Research Group (AdMiRe) Department of Mechatronic and Robotic Engineering Universiti Tun Hussein Onn Malaysia Malaysia Department of electronic engineering Advanced Mechatronic Research Groun (AdMiRe)

ISBN: (纸本)9781467377928

The analysis of EEG signals play a significant role in brain related studies. Accurate investigation and analysis of the EEG signals from a subject can interpret the inherent information about the intention of the person to some extent. The accuracy of such interpretation or detection can be of utmost importance for various brain computer interface (BCI) based applications. For instance, within the last decade, BCI has been widely investigated and employed to assist in the restoration of sensory and motor functions in paralyzed individuals. EEG typically contains numerous information about the cognitive thinking and intention of a person, particularly in terms of motor movements. Due to this, comprehensive methods of EEG signal arrangement and pattern recognition through signal classification techniques are required to precisely predict the intended set of movements. In this study, an EEG classification technique based on a combination of wavelet transform analysis and Neural Networks (NN) is presented. Daubechies wavelet decomposition (db8) has been employed to decompose the recorded EEG signals into four levels. These decomposed level details are then used to calculate the feature set which is input to NN classifier for further classification. A total of 6 features were used to perform feature wise classification, where Integrated EEG (IEEG) feature set has been found to possess the highest classification accuracy of 89.39 % with a NN classifier of 9 hidden layers. Whereas, a classification accuracy of 94.86 % was achieved when the features were arranged and cascaded horizontally in form of a dataset as input to a NN classifier of 5 hidden layers.

关键词： Electroencephalography Artificial neural networks Wavelet transforms Scalp Feature extraction Training Conferences

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Kinematic evaluation of mobile robotic platforms for overground gait neurorehabilitation

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AIP Conference Proceedings 2017年第1期1883卷

作者： N. Akmal Alias M. Saiful Huq B. S. K. K. Ibrahim Rosli Omar 1Advanced Mechatronic Research (AdMire) Group 2Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Malaysia 86400 Parit Raja Johor Malaysia

Gait assistive devices offer a great solution to the walking re-education which reduce patients theoretical limit by aiding the anatomical joints to be in line with the rehabilitation session. Overground gait training, which is differs significantly from body-weight supported treadmill training in many aspects, essentially consists of a mobile robotic base to support the subject securely (usually with overhead harness) while its motion and orientation is controlled seamlessly to facilitate subjects free movement. In this study, efforts have been made for evaluation of both holonomic and nonholonomic drives, the outcome of which may constitute the primarily results to the effective approach in designing a robotic platform for the mobile rehabilitation robot. The sets of kinematic equations are derived using typical geometries of two different drives. The results indicate that omnidirectional mecanum wheel platform is capable for more sophisticated discipline. Although the differential drive platform happens to be more simple and easy to construct, but it is less desirable as it has limited number of motions applicable to the system. The omnidirectional robot consisting of mecanum wheels, which is classified as holonomic is potentially the best solution in terms of its capability to move in arbitrary direction without concerning the changing of wheel’s direction.

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Evolution of intelligent and nonlinear control approaches for FES induced movement generation of the lower limb 19th

Evolution of intelligent and nonlinear control approaches fo...

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19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016

作者： Ahmed, M. Ibrahim, B.S.K.K. Saiful Huq, M. Mechatronic and Robotic Engineering Department Universiti Tun Hussein Onn Malaysia Parit Raja Batu PahatJohor86400 Malaysia Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Parit Raja Batu PahatJohor86400 Malaysia Department of Electrical and Electronics Engineering Abubakar Tafawa Balewa University P.M. B. 0248 BauchiBauchi State Nigeria

ISBN: (纸本)9789813149120

Achieving automated control of FES induced walking had been a challenge for control system engineers. This work examines control efforts in FES aided movement applications with the aim of identifying a gap in knowledge that would create an impact towards solving or getting closer to total approval for clinical usage, easy to understand and use, simple, faster implementation and with high regards to safety. Effort was made to use all available means within reach and are close to works on restoration of gait control with emphasis on the lower limbs. FES can be applied alone (pure), but for walking or other active exercise it is usually combined with orthosis (hybrid). Nature of the plant which is a combination of the nervous, muscular and skeletal (neural-muscular-skeletal) systems as well as of limitations in sensor availability made the linear approach not favorable to such systems. Intelligent strategies most likely could provide clinically acceptable solutions, but are likely to face stability issues which are serious concern in this scenario, other shortcomings include longer tuning duration, re-tuning for different subjects and involvement of high computation. Stability issues can be dealt with directly when nonlinear techniques are used and also periodic utterances can be handled with relative ease. Nonlinear control techniques share the shortcoming of high computational requirement and at times complexity problems with the intelligent schemes, but kudos to achievements in microprocessor technologies that always yields higher capability processors which could eradicate issue. Hence, exploring the nonlinear technique could provide solution which could pave way for making countless things easy. That is;more impact could be made by understanding fundamentals or revisiting fundamental studies on nonlinear control for this application. © 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved.

关键词： Linear control systems

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Comparative assessment of anti-sway control strategy for tower crane system

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AIP Conference Proceedings 2017年第1期1883卷

作者： Reza Ezuan Samin Zaharuddin Mohamed 1Advanced Mechatronics Research Group (AdMIRE) Department of Mechatronic and Robotic Engineering Faculty of Electrical & Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia 2Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Johor Bahru Johor Malaysia

Tower crane is also known as rotary crane and widely used in constructions due to limited human capability to carry the various types of load at the construction site. In general crane is used for the purpose of loading and unloading heavy material from one place to another. However, in order to transfer the material in minimum time from one location to another, swaying of the payload will occur. Hence, this research presents the investigation of tower crane system which mainly focusing on the swaying angle of the payload by implementing conventional and intelligent controllers. Its mathematical modeling is developed using the Newton’s Second Law and simulation is done within the MATLAB/Simulink environment. Simulation results are presented in cart trajectory capability and payload sway angle reduction. A comparative assessment between conventional controller and intelligent controller for the tower crane system are presented and discussed. Furthermore, the effect of various rope length and payload mass of the tower crane system to the performance of trajectory capability and sway angle reduction are also presented and discussed.

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Multirate Output Feedback with Discrete Time Sliding Mode Control for Inverted Pendulum System

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Procedia Computer Science 2015年 76卷 290-295页

作者： R. Ngadengon Y.M. Sam J.H.S. Osman R. Tomari W.N. Wan Zakaria Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronic Engineering UniversitiTun Hussein Onn Malaysia 86400 BatuPahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering UniversitiTeknologi Malaysia 81310 Skudai Johor Malaysia

In this paper, a multirate output feedback (MROF) based on discrete time sliding mode control (DSMC) method is proposed. The MROF controller is designed to maintain the inverted pendulum at upright position by controlling the tracking position of a cart. This method is practical because it only used the output samples and the measurement of the system states feedback is not necessary. The MROF output sampling is used to estimate the unmeasured states and subsequently applied to the uncertain system. The simulation results validated the advantages of the proposed controller despite the existence of nonlinearities in inverted pendulum system.

关键词： Multirate output feedback Discrete Sliding Mode Inverted pendulum system

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Cooperative Multi Agent System for Ocean Observation System based on Consensus Algorithm

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Procedia Computer Science 2015年 76卷 203-208页

作者： Herdawatie Abdul Kadir M.R. Arshad Underwater Control and Robotics Group (UCRG) School of Electrical and Electronic Engineering Engineering Campus Universiti Sains Malaysia (USM) 14300 Nibong Tebal Pulau Pinang Malaysia Department of Robotic & Mechatronic Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia (UTHM) 86400 Batu pahat Johor Malaysia

In this paper, we present a cooperative decision making problem of multi agent system for ocean observation system. We consider a team of agents consisting of three blimps and buoys. The aim is to obtain cohesion in heading for the multi blimp to assist aerial mapping and act as the communication hub for a series of ODAS buoy. The ocean observation framework is design suited to the coral reef environment condition. The cooperative solution proposed is based on animal inspired consensus for small flock. The consensus algorithm is developed to solve reach agreement as a whole to acquire the best heading. The results show fast converges of consensus and the effectiveness were demonstrated through numerical simulations.

关键词： Cooperative Multi agent consensus ocean observation blimp

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Lower Body Segmental Dynamics Control Using Eye Blinking Activity

Lower Body Segmental Dynamics Control Using Eye Blinking Act...

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Asian Control Conference

作者： F. Sherwani B. S. K. K. Ibrahim N. H. M. Nasir M. K. I. Ahmad K. A. A. Rahman Department of Mechatronic and Robotic Engineering Faculty of Electrical and Electronics Engineering Universiti Tun Hussein Onn Malaysia

ISBN: (纸本)9781479978632

Brain computer interface based functional electrical stimulation is a comparatively newer technique which is being used for rehabilitative and assistive technologies these days. This process needs precise calculations of relative factors and repetitive testing of those factors to provide approximate efficiency and stability. It is required to perform modelling and simulation of such systems in order to decrease number of experiments in humans. This study presents a modelling and simulation technique for lower limbs that utilized Neurosky Mindwave Mobile as a controlling device. LabVIEW has been used to connect the interface with the SolidWorks model. Blinking activity of a person is detected using Neurosky device and is translated to control the programmed movements in SolidWorks. This work is the early stage of the integration of brain-computer interface with other devices. In future work, the integration of these device and Functional Electrical Stimulator will be investigated.

关键词： Brain-computer interface Functional electical stimulation Paraplegic Spinal cord injury Simulation

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