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检索条件"机构=Mechatronics and Robotics"

共 5369 条记录，以下是551-560 订阅

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MonoRollBot: 3-DOF Spherical Robot with Underactuated Single Compliant Actuator Design

MonoRollBot: 3-DOF Spherical Robot with Underactuated Single...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Zhiwei Liu Seyed Amir Tafrishi Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab the School of Engineering Cardiff University Cardiff United Kingdom

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional propulsion with high degrees of freedom while utilizing a limited number of actuators. This paper presents the MonoRollBot, a novel 3-degree-of-freedom (DOF) spherical robot that utilizes an underactuated mechanism driven by only a single springmotor system. Unlike conventional spherical robots, MonoRoll-Bot employs a minimalist actuation approach, relying on only one motor and a passive spring to control its locomotion. The robot achieves 3-DOF motion through an innovative coupling of spring dynamics and motor control. In this work, we detail the design of the MonoRollBot and evaluate its motion capabilities through design studies. We also study its locomotion behaviours based on changes in rotating mass and stiffness properties.

关键词： Actuators Dynamics 3-DOF Soft robotics Propulsion Motors Stability analysis Space exploration Springs Robots

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Tensegrity Topology Merging: Mixed-Integer Convex optimization-based Method

Tensegrity Topology Merging: Mixed-Integer Convex optimizati...

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Khafizov, Ramil Savin, Sergei Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis420500 Russia

ISBN: (纸本)9781665424066

This paper proposed a mixed-integer convex optimization-based method for merging multiple tensegrity structures. Merging is extremely useful in constructing complex structures, which consist of lots of cables and struts, whereas building such structures from scratch might be infeasible. In addition to that, merging procedure let's us use human-designed structures as elementary units of resulting object. The proposed method permits utilization of lots of constraints, used during tensegrity generation procedure. At the same time we also try to merge structures with as little additional connections as possible. In comparison to existing approaches, this method is a single-step algorithm and does not make any assumption on shape and relative position of merged structures. © 2021 IEEE.

关键词： Merging

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Investigation of the oscillatory effect in a copy control system

Investigation of the oscillatory effect in a copy control sy...

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2021 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2021

作者： Jatsun, S. Malchikov, A. Yatsun, A. Mechatronics&Robotics Dept. Southwest State University Kursk Russia

ISBN: (纸本)9781728145877

The article is devoted to the urgent task of developing a copying control system intended for use in active industrial exoskeletons of the lower extremities. The use of drives allows to reduce the labor costs when lifting and transferring loads, however, it requires the use of human-machine interface tools and a high quality of the control system. The paper shows the mathematical modeling results of the electromechanical system with copying control system. a complex criterion is proposed for assessing the quality of regulation, taking into account the time of the transient process, integral error and the amount of over-regulation. The domains of copying control system controller optimal parameters are obtained for the stepwise and rectangular periodic law of variation of the reference action. © 2021 IEEE.

关键词： Control systems

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Deep Learning based acoustic measurement approach for robotic applications on orthopedics

Deep Learning based acoustic measurement approach for roboti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Bangyu Lan Momen Abayazid Nico Verdonschot Stefano Stramigioli Kenan Niu Robotics and Mechatronics University of Twente Enschede The Netherlands Orthopaedic Research Lab Radboud University Medical Center Nijmegen The Netherlands

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In Total Knee Replacement Arthroplasty (TKA), surgical robotics can provide image-guided navigation to fit implants with high precision. Its tracking approach highly relies on inserting bone pins into the bones tracked by the optical tracking system. This is normally done by invasive, radiative manners (implantable markers and CT scans), which introduce unnecessary trauma and prolong the preparation time for patients. To tackle this issue, ultrasound-based bone tracking could offer an alternative. In this study, we proposed a novel deep-learning structure to improve the accuracy of bone tracking by an A-mode ultrasound (US). We first obtained a set of ultrasound dataset from the cadaver experiment, where the ground truth locations of bones were calculated using bone pins. These data were used to train the proposed CasAtt-UNet to predict bone location automatically and robustly. The ground truth bone locations and those locations of US were recorded simultaneously. Therefore, we could label bone peaks in the raw US signals. As a result, our method achieved sub-millimeter precision across all eight bone areas with the only exception of one channel in the ankle. This method enables the robust measurement of lower extremity bone positions from 1D raw ultrasound signals. It shows great potential to apply A-mode ultrasound in orthopedic surgery from safe, convenient, and efficient perspectives.

关键词： Ultrasonic imaging Accuracy Ultrasonic variables measurement Orthopedic surgery Position measurement Bones Acoustic measurements

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An Empirical Investigation on Variational Autoencoder-Based Dynamic Modeling of Deformable Objects from RGB Data

An Empirical Investigation on Variational Autoencoder-Based ...

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Mediterranean Conference on Control and Automation (MED)

作者： Tomás Coleman Robert Babuška Jens Kober Cosimo Della Santina Department of Cognitive Robotics Delft University of Technology Delft Netherlands Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

Formulating the dynamics of continuously deformable objects and other mechanical systems analytically from first principles is an exceedingly challenging task, often impractical in real-world scenarios. What makes this challenge even harder to solve is that, usually, the object has not been observed previously, and the only information that we can get from it is a stream of RGB camera data. In this study, we explore the use of deep learning techniques to solve this nonlinear identification problem. We specifically focus on extracting dynamic models of simple deformable objects from the high-dimensional sensor input coming from an RGB camera. We investigate a two-stage approach to achieve this goal. First, we train a variational autoencoder to extract an extremely low-dimensional representation of the object configuration. Then, we learn a dynamic model that predicts the evolution of these latent space variables. The proposed architecture can accurately predict the object's state up to one second into the future.

关键词： Deformable models Deep learning Automation Predictive models Aerospace electronics Cameras Robot sensing systems

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VR Application For Virtual Environment With Response To Users' Motion

VR Application For Virtual Environment With Response To User...

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International Conference on Engineering of Modern Electric Systems (EMES)

作者： Lidia-Cristina Bazavan Horatiu Roibu Stefan-Irinel Cismaru Nicu-George Bizdoaca Mechatronics and Robotics Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania

One purpose of virtual environments (VE) is to increase the feeling of immersion that a user is experiencing. Today, most of VE” $\mathbf{s}$ are including, besides Virtual Reality (VR) app, also an omnidirectional platform in which the user can move freely and without risk of injury. Such platform is VirtuSphere (VS), for which a mechatronic system with response to user's movement was build. In order to have a full immersive VE, a standalone mechatronic system is not enough, this needs to be interconnected with the VR application that is displayed to the user. Therefore, the purpose of this paper is the development of a VR application intended for interaction with a VE consisting of the omnidirectional platform VS and a drive mechatronic system for Virtusphere (DMSVS).

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Control Simulation of Proportional-Integral and Sliding Mode Control for Precision Seed Planters

Control Simulation of Proportional-Integral and Sliding Mode...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Yasir Nawaz Muhammad Usman Qadir Muhammad Awais Khan Izhar Ul Haq Kamran Shah Tahir Khan Department of Mechatronics Advanced Robotics & Automation Lab University of Engineering and Technology Peshawar Pakistan

The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area.

关键词： Meters Industries PI control Automation System performance Production Robustness

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Models and algorithms of human rehabilitation exoskeleton movement control 7

Models and algorithms of human rehabilitation exoskeleton mo...

引用

7th IEEE International Conference on Information Technology and Nanotechnology, ITNT 2021

作者： Alexandrovitch, Postolny Alexey Vladimirovna, Saveleva Ekaterina Fedorovitch, Jatsun Sergey Sergeevitch, Yatsun Andrey South-West State University Department of Mechanics Mechatronics and Robotics Kursk Russia

ISBN: (纸本)9781665432177

This paper discusses theory of the exoskeleton systems functioning, with special attention paid to the issues of motion control algorithms, taking into account the interaction of a person and an exoskeleton. Questions of biomechanics of human movement are discussed, devoted to the study of the human limbs kinematics features and their interaction with a rehabilitation device. The mathematical model of the exoskeleton describes patient and exoskeleton movement, taking into account the properties of electric drives, reactions of the supporting surface, in the verticalization and walking modes. Algorithms for controlling the movement of the exoskeleton are given, taking into account the given law of motion of the center of mass and information about the force interaction of the human leg and the exoskeleton in the corresponding phases of movement. For rehabilitation purposes, the method of gravity control was applied in the work. © 2021 IEEE.

关键词： Electric drives

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A Novel Rehabilitative Soft robotics Knee Brace for ACL deficient patients

A Novel Rehabilitative Soft Robotics Knee Brace for ACL defi...

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Human-Computer Interaction, Optimization and Robotic Applications (HORA), International Congress on

作者： Hamid Naghibi Husain Khambati Andrea Ryolo Momen Abayazid Robotics and Mechatronics Group University of Twente Enschede The Netherlands VDL Enabling Technology Group Technology and Development Eindhoven The Netherlands

ISBN: (数字)9798350394634

ISBN: (纸本)9798350394641

Anterior Cruciate Ligament rupture is one of the most common injuries contributing to osteoarthritis progression due to knee motion alteration. Reconstructive surgery often fails to recover the intact knee stability. Rehabilitative treatments as a non-invasive solution can used to strengthen the Hamstring muscles which contributes to the anterior-posterior stability. These exercises are very time and cost expensive . in order to overcome the non-effective passive knee braces in the market, in the current study A soft robotics knee brace was developed in order to improve anterior-posterior stability by contributing to Hamstring muscles group activation. The soft robotics knee brace can be actuated inside MRI which enables direct evaluation of the effectiveness. In order to validate the effectiveness of the developed knee brace two experiments were performed, seated leg curl and gait analysis. The outcomes confirmed that the soft robotics knee brace could reduce the Hamstring group activation.

关键词： Knee Magnetic resonance imaging Surgery Soft robotics Muscles Potentiometers Stability analysis

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Finite Element Method Based Toolchain for Simulation of Proximity Estimation Using Electronic Skin 10th

Finite Element Method Based Toolchain for Simulation of Pr...

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Proceedings of the 10th Machine Intelligence and Digital Interaction Conference, MIDI 2022

作者： Ostaszewska-Liżewska, Anna Klimaszewski, Jan Department of Mechatronics Institute of Metrology and Biomedical Engineering Warsaw Univeristy of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland Department of Mechatronics Institute of Automatic Control and Robotics Warsaw Univeristy of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland

ISBN: (纸本)9783031376481

The emergence of new areas of human-robot cooperation creates the need to ensure human safety in this regard. Therefore, there is a need to develop new sensors to detect the presence of a human in the vicinity of a robot. One such sensor is an electronic skin (e-skin). Manufacturing and testing new e-skin prototypes is labor-intensive. This paper presents a software toolchain developed to simulate the operation of an e-skin used to detect human proximity. The toolchain is based on the finite element method and has been developed exclusively with free and open-source software. The presented toolchain makes it possible to test e-skin modifications without the need for a physical prototype and significantly reduces implementation costs. The developed solution is multi-platform and allows parallel and multi-threaded calculations conducted on multiple machines simultaneously. This paper presents modeling results obtained for a simplified e-skin sensor, which are consistent with experimental results on the actual model. © 2023, The Author(s).

关键词： Finite element method

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