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Balancing a Legged Robot Using State-Dependent Riccati Equation control

IFAC Proceedings Volumes 2014年第3期47卷 2177-2182页

作者： E. Najafi G.A.D. Lopes R. Babuška Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands Department of Mechatronics Engineering Faculty of New Sciences and Technologies University of Tehran Iran

In this paper, we propose a nonlinear control approach for balancing underactuated legged robots. For the balancing task, the robot is modeled as a generalized version of a Segway. The control design is based on the State-Dependent Riccati Equation (SDRE) approach. The domain of attraction of the SDRE controller is compared to the domain of attraction of a linear quadratic controller. Using a simulation example of a four-legged robot balancing on its hind legs, we show that the SDRE controller gives a reasonably large domain of attraction, even with realistic level constraints on the control input, while the linear quadratic controller is unable to stabilize the system.

关键词： State-dependent Riccati equation control Linear quadratic control Legged robots Domain of attraction

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Identification of Suspension Bridge Parameters under Exploitational Conditions

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Journal of Mechanics engineering and Automation 2014年第8期4卷 657-666页

作者： Joanna Iwaniec Marek Iwaniec Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science andTechnology Krakow 30-059 Poland Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and TechnologyKrakow 30-059 Poland

The paper concerns a research into dynamic properties of the steel suspension bridge across Opolska Street in Krakow, Poland. Parameter identification was carried out with the application of the nonlinear system identification method on the basis of system responses to exploitational excitation resulting from pedestrian traffic. In order to verify obtained results, on the basis of the geometrical and material properties of the considered system, the FEM （finite elements model） was created. Created FEM model was updated through the comparison with the model determined by the use of experimental modal analysis method and then applied to analytical evaluation of the considered suspension bridge natural frequencies.

关键词： Steel bridge nonlinear system identification exploitational excitation

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Automated Transitions Between Walking and Running in Legged Robots

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IFAC Proceedings Volumes 2014年第3期47卷 2171-2176页

作者： M. Shahbazi G.A.D. Lopes R. Babuska Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands Department of Mechatronics Engineering Faculty of New Sciences and Technologies University of Tehran Iran

This paper addresses the synthesis of controllers for walk-to-run transition (WRT) and run-to-walk transition (RWT) in legged robots with adjustable leg compliance. Inspired by human kinematics, we propose a detailed procedure for the WRT and RWT in an adjustable-stiffness spring and mass model, and derive control parameters that ensure effective gait transitions. The WRT is achieved by modulating the compliance of the leg in a piecewise constant way during the transition stride. In the RWT, in addition to the leg compliance, we modulate the touchdown angle of attack. The merits of the approach proposed are demonstrated via a simulation that incorporates the control of walking, followed by a transition to running with first increasing and then decreasing speed, and finally a transition back to walking.

关键词： Walk-run transitions Adjustable compliance controlled SLIP Legged robots

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Fractional-order iterative learning control and identification for fractional-order Hammerstein system

Fractional-order iterative learning control and identificati...

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World Congress on Intelligent control and Automation (WCICA)

作者： Yan Li Lun Zhai YangQuan Chen Hyo-Sung Ahn School of Control Science and Engineering Shandong University Jinan Shandong PR China Department of Mechatronics Gwangju Institute of Science and Technology Gwangju Korea

The fractional-order Hammerstein system is a cascading system composed of a static nonlinearity followed by a fractional-order linear dynamics, which is a typical nonlinear system satisfying the local Lipschitz condition, and exhibits quasi-linear properties. This paper combines the fractional-order iterative learning control (FOILC) and the fractional-order iterative learning identification (FOILI), which is applied to the perfect tracking control of fractional-order continuous Hammerstein systems. A novel order learning strategy is proposed to estimate the differentiation order accurately. A practical and robust identification based FOILC scheme is derived so that the convergence speed can be optimized accordingly. Two illustrated examples are provided to validate the above concepts.

关键词： Convergence Vectors Nonlinear systems Estimation Educational institutions Robustness control systems

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Stability and Neimark-Sacker bifurcation analysis of a food-limited population model with a time delay

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Chinese Physics B 2013年第3期22卷 67-71页

作者：姜晓伟关治洪张先鹤张顶学刘峰 Department of Control Science and Engineering Huazhong University of Science and Technology College of Mechatronics and Control Engineering Hubei Normal University Petroleum Engineering College Yangtze University Department of Electronic Information and Mechanics China University of Geosciences

In this paper,a kind of discrete delay food-limited model obtained by the Euler method is investigated,where the discrete delay τ is regarded as a *** analyzing the associated characteristic equation,the linear stability of this model is *** is shown that Neimark-Sacker bifurcation occurs when τ crosses certain critical *** explicit formulae which determine the stability,direction,and other properties of bifurcating periodic solution are derived by means of the theory of center manifold and normal ***,numerical simulations are performed to verify the analytical results.

关键词： food-limited model time delay Neimark-Sacker bifurcation periodic solution

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A robot design for trans-oral surgery

A robot design for trans-oral surgery

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jong-Tae Seo Jaehong Woo Long Kang Wheekuk Kim Byung-Ju Yi Department of Mechatronics Engineering Hanyang University Ansan Korea Department of Intelligent Robot Engineering Hanyang University Ansan Korea Department of Electronic Systems Engineering Hanyang University Ansan Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Korea Department of Mechanical Engineering Hanyang University Ansan Korea

ISBN: (纸本)9781479953349

The objective of this paper is to describe a new design of a trans-oral surgical robot. The trans-oral robotic surgery system consists of a master device and a slave device. Specifically, the concept of stackable mechanism is applied to design both master and slave devices. Using the stackable architecture, counter-balancing can be achieved over the whole workspace and compact design can be made by locating all motors at the base of the robot. Through simulation, the performance of the trans-oral surgical robot is verified.

关键词： Surgery Educational institutions Electronic mail Medical robotics Simulation

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DNA hybridization detection on porous silicon: A review

DNA hybridization detection on porous silicon: A review

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： Siti Nadia Ishak Nihad K. Ali Mohd Ridzuan Ahmad Department of Control and Mechatronics Universiti Teknologi Malaysia Johor Malaysia Faculty of Science and Engineering Soran University Iraq Universiti Teknologi Malaysia Skudai Johor MY

In modern society, the application of biosensor gains its popularity in various fields such as biomedical diagnostic, food technology, cancer therapies, pharmaceutics and environmental monitoring. New biosensing technology is needed to accommodate low cost sensor, able to give fast response, versatile technique and eventually more stable products. During the past decades, various researches work focusing on how to immobilize biomolecules on compatible nanomaterial for the purpose of creating a sensing element. Among all of the nanomaterials that have been used, porous silicon (PS) exhibits great advantages on genetic research for instance the DNA detection. DNA based research became popular since the Genome Human Project (GHP) has been completed in year 2003. In this paper, the fabrication and properties of PS as a function of nanomaterial biosensing will be discussed especially for DNA detection application.

关键词： DNA Silicon Etching Biosensors Fabrication

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Aspects Concerning Kinetostatic Properties of Parallel Robots

Aspects Concerning Kinetostatic Properties of Parallel Robot...

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ISR/Robotik 2014;41st International Symposium on Robotics

作者： Cornel Brisan Catalin Boanta Akos Csiszar Alexander Verl Department of Mechatronics and Machine Dynamics Technical University of Cluj-Napoca Graduate School of Excellence advanced Manufacturing Engineering University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart

This paper presents a factorial analysis of the compensation of dynamic characteristics of a special class of reconfigurable haptic device. The haptic device is a reconfigurable parallel structure with having a revolute joint as actuated joint. In order to decrease the inertia and the moving mass of the mechanism this actuated joint is attached to the fixed platform of the mechanism. The haptic device interacts with a human operator by the means of its end effector. The dynamic compensation takes in consideration the mechanical properties of the robot in order to achieve a "transparent" mechanical structure. A "transparent" mechanical structure implies that forces or movements rendered through a haptic device remain unaltered due to friction, inertia or gravity (i.e. dynamic behavior) of the structure. Interaction with a virtual world has to be an immersive experience. The 'transparent' mechanical structure achieved by dynamic compensation facilitates the immersiveness of the haptic experience.

关键词： haptic device MECHANICAL STRUCTURES Fixed platforms compensated Revolute joints Inertial forces moving mass Hyalin Parallel robots end effectors Factor analysis Mechanical properties aspect dynamic characteristics configurability

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RETRACTED ARTICLE: Soft computing methodologies for estimation of bridge girder forces with perforations under tsunami wave loading

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Bulletin of Earthquake engineering 2014年第3期13卷 935-952页

作者： Akib, Shatirah Rahman, Sadia Shamshirband, Shahaboddin Petković, Dalibor Department of Civil Engineering University of Malaya Kuala Lumpur Malaysia Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Department of Computer Science Chalous Branch Islamic Azad University (IAU) Chalous Iran Department for Mechatronics and Control Faculty of Mechanical Engineering University of Niš Nis Serbia

Tsunamis pose a great threat to coastal infrastructures. Bridges without adequate provisions for earthquake and tsunami loading generally are vulnerable when a tsunami occurs. During the last two disastrous tsunami events (i.e., the tsunami in the Indian Ocean and the tsunami that struck Japan), many bridges were damaged by the waves created by the tsunamis. In this paper, in order to address this crucial problem, we used soft computing techniques to design and develop a process that simulates the effects of perforations in the girders of bridges on reducing the forces applied on the bridge when a tsunami occurs. Soft computing methods have very good learning and prediction capabilities, which make it an effective tool for dealing with the uncertainties encountered when waves are generated by a tsunami. Laboratory experiments were conducted to acquire a better understanding of the effects of the factors involved and to check the data required for the soft computing methods. In order to predict the effects of perforations in the girder of a bridge on force reduction, novel intelligent soft computing schemes, support vector regression (SVR), and adaptive neuro-fuzzy inference system (ANFIS) were investigated. In this study, the polynomial, linear, and radial basis function were used as the kernel function of the SVR to estimate the effects of perforations in a girder of a bridge. The performances of the proposed estimators were confirmed by simulation results. The SVR results were compared with the ANFIS results, and we observed that an improvement in predictive accuracy and the ability to generalize were achieved by the ANFIS approach.

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Erratum to: RETRACTED ARTICLE: Application of extreme learning machine for estimation of wind speed distribution

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Climate Dynamics 2015年第5期46卷 2025-2025页

作者： Shahaboddin Shamshirband Kasra Mohammadi Chong Wen Tong Dalibor Petković Emilio Porcu Ali Mostafaeipour Sudheer Ch Ahmad Sedaghat Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Faculty of Mechanical Engineering University of Kashan Kashan Iran Department for Mechatronics and Control Faculty of Mechanical Engineering University of Niš Nis Serbia Technical University Federico Santa Maria Valparaíso Chile Industrial Engineering Department Yazd University Yazd Iran Department of Civil and Environmental Engineering ITM University Gurgaon India Department of Mechanical Engineering School of Engineering Australian College of Kuwait Safat Kuwait

Unfortunately, the co-author affiliation Dalibor Petković has been incorrectly published in the original publication.

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