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12th International Conference on Intelligent Autonomous Systems, IAS 2012

作者： Öner, Alper Control and Automation Engineering Department Mechatronics Education and Research Center Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9783642339257

This research is a preliminary research for real time autonomous robot in unknown incremental dynamical environment. A general method for mapping incremental dynamic environment using Multiple Target tracking (MTT) was proposed in this research. Rao-Blackwellized Particle Filter (RBPF) was used for the multiple moving obstacles tracking problem. Firstly data association problem was solved via Multiple Hypothesis Tracking (MHT) data association by a new method. The new MHT method can use extra information except using only position of targets. Particle Filter is used in the method. Each particle is assumed as an obstacle map. Then tracking problem for each obstacle in the particle is solved by Extended Kalman Filter (EKF). Finally the particle which has highest weight is assumed as the dynamic map. Additionally a new resampling method was proposed in this research. The algorithm can cope with new obstacles and false detection according to the pure particle filter. Obstacles are assumed as human in this research hence their velocities are determined randomly up to human walking speed. Furthermore the robot moves approximately at human walking speed. A graphical user interface program was constituted in MATLAB so different states are surveyed. © 2013 Springer-Verlag.

关键词： Mapping

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A pattern recognition approach for damage detection and temperature compensation in acousto-ultrasonics 7

A pattern recognition approach for damage detection and temp...

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7th European Workshop on Structural Health Monitoring, EWSHM 2014

作者： Torres-Arredondo, M.-A. Sierra-Pérez, Julián Zenuni, Erion Cabanes, Guénaël Rodellar, José Güemes, Alfredo Fritzen, C.-P. Augsburg Germany Grupo de Investigación en Ingeniería Aeroespacial Universidad Pontificia Bolivariana Medellín Colombia Department of Aerospace Materials and Processes Universidad Politécnica de Madrid Spain University of Siegen Institute of Mechanics and Control Engineering-Mechatronics Siegen Germany University of Paris 13 Institut Galilée LIPN CNRS France Department of Applied Mathematics III Universitat Politècnica de Catalunya-BarcelonaTech Barcelona Spain Germany

The global trends in the construction of modern structures require the integration of sensors together with data recording and analysis modules so that their integrity can be continuously monitored for safe-life, economic and ecological reasons. This process of measuring and analysing the data from a distributed sensor network all over a structural system in order to quantify its condition is known as structural health monitoring (SHM). Guided ultrasonic wave-based techniques are increasingly being adapted and used in several SHM systems which benefit from built-in transduction, large inspection ranges, and high sensitivity to small flaws. However, for reliable health monitoring, much information regarding the innate characteristics of the sources and their propagation is essential. Moreover, any SHM system which is expected to transition to field operation must take into account the influence of environmental and operational changes which cause modifications in the stiffness and damping of the structure and consequently modify its dynamic behaviour. On that account, special attention is paid in this paper to the development of an efficient SHM methodology where robust signal processing and pattern recognition techniques are integrated for the correct interpretation of complex ultrasonic waves within the context of damage detection and identification. The methodology is based on an acousto-ultrasonics technique where the discrete wavelet transform is evaluated for feature extraction and selection, linear principal component analysis for data-driven modelling and selforganizing maps for a two-level clustering under the principle of local density. At the end, the methodology is experimentally demonstrated and results show that all the damages were detectable and identifiable. Copyright © Inria (2014).

关键词： Damage detection

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Behavior based complete coverage task of unknown area by an autonomous mobile robot scorpion with static obstacles in environment

Behavior based complete coverage task of unknown area by an ...

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作者： Dabkowski, Mariusz Skrzek, Pawel Redlarski, Grzegorz Electrical and Control Engineering Chair of Mechatronics and High Voltage Engineering Narutowicza 11/12 Street 80-233 Gdansk Poland

ISBN: (纸本)9783037856376

In the paper the behavior based control system of an autonomous mobile robot SCORPION is presented to execute the one of the most difficult navigation task, which is the complete coverage task of unknown area with static obstacles in the environment. The main principle assumed to design control system was that the robot should cover all area only once, if it possible, to optimize the length of path and energy consumption. All commercial robots like Roomba, Trilobite or IVO move using structured templates combined with random movement. Therefore the path of coverage is not optimal - directions of movement are often chosen randomly, so robot covers the same area many times wasting time and energy. In paper the five main developed templates of movement were described to fulfill main task in ordered manner using primarily "the way of the ox" template of coverage [1, 2, 5, 10]. The behavioral control system is implemented in a computer application written in Python [5]. In the paper the test methodology of the developed system on real mobile robot ERSP SCORPION equipped with IR sensors is presented. Graphical and quantitative results of tests of accomplishment of complete coverage task are given for 6 different configurations of obstacles in the robot's environment. Conclusions are presented and discussed [5]. Ways to improve the quality indicators [1,2] of the task of complete coverage of a unknown area are also showed. © (2013) Trans Tech Publications, Switzerland.

关键词： Mobile robots

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Studies on the scattering problem of circular cavity in circular area to in-plane wave

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Journal of Applied Sciences 2013年第22期13卷 5240-5244页

作者： Shi, Wen Pu Wei, Juan School of Mechatronics and Automobile Engineering Yantai University 264005 Yantai China Key Laboratory of Advanced Manufacturing and Control Technology in Universities of Shandong Yantai University China

The wave function expansion method, complex function method and the special function transformation technology were employed to investigate the elastic wave scattering problems of the circular cavity in the circular area under the action of the in-plane disturbance locating on the outer boundary of the circular area. The boundary of the circular area and the boundary of the inner circular cavity produce scattering waves, the superposition principle was used to give the total displacement potentials in the circular area, the boundary stress conditions and the Fourier series expansion were utilized to obtain the infinite algebraic equation group of the unknown coefficients, solve the equations and obtain the unknown coefficients, the variations and distributions of the dynamic tangential stress concentration coefficient on the circular cavity boundary about the dimensionless wave number were discussed and the numerical computation results of the example was given to illustrate the theoretical conclusions. © 2013 Asian Network for Scientific Information.

关键词： Stress concentration

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Stability and bifurcation analysis of new coupled repressilators in genetic regulatory networks with delays

Stability and bifurcation analysis of new coupled repressila...

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西南大学2014年全国博士生学术论坛(电子技术与信息科学领域)

作者： Guang Ling Zhi-Hong Guan Ding-Xin He Rui-Quan Liao Xian-He Zhang College of Automation Huazhong University of Science and Technology Wuhan 430074 China School of College of Automation Huazhong University of Science and Technology Wuhan 430074 China Petroleum Engineering College Yangtze UniversityJingzhou 420400 China College of Mechatronics and Control Engineering.Hubei Normal University Huangshi 435002 China

The genetic regulatory networks are complex dynamic systems which reflect various kinetic behaviors of living *** this paper, a new structure of coupled repressilators is introduced to exploit the underlying *** new coupled repressilator model consists of two identical repressilators inhibiting each other *** coupling delays are taken into *** existence of a unique equilibrium for this system is verified firstly, then the stability criteria for equilibrium are analyzed without and with coupling *** different functions on equilibrium and its stability played by related biochemical parameters in the structure including maximal transcription rate, coupling strength, the decay rate ratio between proteins and mRNAs, and coupling delays are *** last, several numerical simulations are made to demonstrate our results.

关键词： Coupled repressilators Stability Hopf bifurcation Coupling delays

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Development of CR2-Haptic: A compact and portable rehabilitation robot for wrist and forearm training

Development of CR2-Haptic: A compact and portable rehabilita...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： K. X. Khor P. J. H. Chin A. R. Hisyam C.F. Yeong A. L. T. Narayanan E. L. M. Su Universiti Teknologi Malaysia from Malaysia Japan International Institute of Technology Universiti Teknologi Malaysia Skudai Johor MY Department of Control Mechatronics of Faculty of Electrical Engineering Unwersiti Teknologi Malaysia Universiti Teknologi Malaysia Center of Artificial Intelligence and Robotics (CAIRO)

Stroke has now become the leading cause of severe disability. Rehabilitation robots are gradually becoming popular for stroke rehabilitation to improve motor recovery, as robotic technology can assist, enhance, and further quantify rehabilitation training for stroke patients. However, most of the available rehabilitation robots are complex and involve multiple degrees-of-freedom (DOFs) causing it to be very expensive and huge in size. Rehabilitation robots should be useful but also need to be affordable and portable enabling more patients to afford and train independently at home. This paper presents a development of an affordable, portable and compact rehabilitation robot that implements different rehabilitation strategies for stroke patient to train forearm and wrist movement in an enhanced virtual reality environment with haptic feedback.

关键词： Robots Training Torque Wrist Haptic interfaces Games Joints

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Dynamic Modeling and Experiment of a Fish Robot with a Flexible Tail Fin

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Journal of Bionic engineering 2013年第1期10卷 39-45页

作者： Phi Luan Nguyen Van Phu Do Byung Ryong Lee ~ Intelligent Control and Mechatronics Lab School of Mechanical Engineering University of Ulsan Daehak-ro 93 Nam-gu Ulsan 680-749 South Korea School of Mechanical Engineering University of Ulsan Daehak-ro 93 Nam-gu Ulsan 680-749 South Korea

This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the flexible tail was derived by using the Euler-Bernoulli theory. In this equation, the resistive forces were estimated as a term analogous to viscous damping. Then, the modal analysis method was applied in order to derive an analytical solution of the governing equation, by which the relationship between the driving moment and the lateral movement of the flexible tail was described. Finally, simulations and experiments were carried out and the results were compared to verify the accuracy of the dynamic model. It was proved that the dynamic model of a fish robot with a flexible tail fin well explains the real behavior of robotic fish in underwater environment.

关键词： robotic fish flexible tail dynamic modeling lateral movement

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Design and analysis of one kind of preliminary storage centrifugal action mechanism applied to submunition fuze

Design and analysis of one kind of preliminary storage centr...

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2013 3rd International Conference on Advanced Measurement and Test, AMT 2013

作者： Xu, Sheng Gang Wu, Yan Xuan Fan, Ning Jun Cheng, Dong Qing Qin, Dong Ze Key Laboratory of National Defense Science and Technology for Mechatronics Engineering and Control Beijing Institute of Technology Beijing China

ISBN: (纸本)9783037857168

According to the requirement of the U.N. for the rate and function of dud, this paper proposes a project to improve mechanical structure of original submunition combing with the development status of submunition in China. With the characteristics of submunition fuze's structure and working environment, one kind of preliminary storage centrifugal action mechanism is designed in the paper. The principle and process of action are also elaborated. The paper makes calculation of reliability and does dynamic simulation by stages according to working process of submunition. Calculation and simulation results demonstrate that preliminary storage centrifugal action mechanism can be reliable and achieves the aim of design. © (2013) Trans Tech Publications Switzerland.

关键词： Centrifugation

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Online state of charge estimation for battery of electric vehicle using sigma-points Kalman filters

Online state of charge estimation for battery of electric ve...

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2nd International Conference on Mechanical engineering, Industrial Electronics and Informatization, MEIEI 2013

作者： Fang, Li Cun Xu, Gang Li, Tian Li Zhu, Ke Min College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Shenzhen Lab of city rail transportation China

ISBN: (纸本)9783037858905

An accurate state-of-charge (SOC) estimation of the hybrid electric vehicle(HEV) and electric vehicle(EV) battery pack is a difficult task to be performed online in a vehicle because of the noisy and low accurate measurements and the wide operating conditions in which the vehicle battery can operate. A Sigma-points Kalman Filters(SPKF) algorithm based on an improved Lithium battery cell model to estimate the SOC of a Lithium battery cell is proposed in this paper. The simulation and experiment results show the effectiveness and ease of implementation of the proposed technique. © (2013) Trans Tech Publications, Switzerland.

关键词： Battery management systems

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Research of slider-crank massager noise fault diagnosis and treatment

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2012 International Conference on Materials and Manufacturing Research, ICMMR 2012

作者： Lv, Yong Hu Li, Ji Bin Zhong, Guo Wei Yang, Jia Li Wang, Chang Sheng Wang, Hai Xiong College of Mechatronics and Control Engineering ShenZhen University ShenZhen 518060 China College of Optoelectronic Engineering ShenZhen University ShenZhen 518060 China

ISBN: (纸本)9783037856192

The abnormal periodic noise from the slider-crank massager was complained by many consumers when it was under unilateral massage. By anglicizing the worm non-working surface stained with marking compound, the reason of the abnormal periodic noise which stemming from repeated mating of non-normal mating surfaces of the worm gear mechanism is founded. In order to solve the problem the overrunning clutch is used as it's beyond separation functions. When the force is loaded to passive wheel, the clutch is linked;while the load becomes kinetic energy, the power will be separated immediately. The characteristic determines that the overrunning clutch is one of the best choices to separate the load on the slider-crank massager. And the results of the experiment indicate that the method has a significant effect to reduce noise. It also has a practical significance to the common problems of the mechanism and to the related scientific problems. © (2013) Trans Tech Publications, Switzerland.

关键词： Clutches

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