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检索条件"机构=Mechatronics and Robotics"

共 5342 条记录，以下是51-60 订阅

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We can pass through the wall gap?: Aperture passage perception via vibration stimuli generated from distance variation 16

We can pass through the wall gap?: Aperture passage percepti...

引用

16th International Conference on Quality Control by Artificial Vision

作者： Morita, Shinichiro Kikuchi, Yuki Saeki, Akira Endo, Itta Kobayashi, Harumi Mukawa, Naoki Nakamura, Akio Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

ISBN: (数字)9781510667471

ISBN: (纸本)9781510667464

We have been developing a helmet-Type spatial perception support system that provides the user with vibration stimuli in response to the distance variation to an obstacle. The purpose of this research is set to propose a method for generating vibration stimuli that appropriately represent two environmental elements, walls and apertures, and verify its effectiveness for the aperture passage perception. The five vibro-motors are positioned at directional angles of 0 degree in front, 30 and 60 degrees to left and right, and generate vibration stimuli of an intensity calculated by assigning appropriate damping weights. We set the distance-dependent damping weights separately for each directional angle in the calculation of the vibration intensity to be generated for each motor. Experimental results demonstrate that the subjects were able to pass through the aperture in approximately 91 % of trials. This suggests that the developed system and the proposed vibration stimuli generation method are effective in perceiving space from the vibration stimuli provided to the head. © 2023 SPIE. All rights reserved.

关键词： Optical flows

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An Assist Control using an Electric Motor for One-wheel cart 11

An Assist Control using an Electric Motor for One-wheel cart

引用

11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Tobari, A. Tatsuhiko Kantaro Yoshimoto, B. Yokoyama, C. Tomoki Tokyo Denki University Department of Robotics and Mechatronics Tokyo Japan

ISBN: (纸本)9788957083505

In recent years, the number of farmers in Japan has been declining and the population is aging. The electrification of the agricultural machines is one of solutions to reduce the work load of elder workers. However, electric powered one-wheel carts in current market on the market have the problem that they require accelerator operation. In order to solve this problem, this paper proposes an assist control for electric powered one-wheel cart implemented with inertia simulator. An inertia simulator can give the motor torque assist which achieves equivalently the no load condition for the operator. The proposed system was verified by simulation and the prototype one-wheel cart was designed. © 2023 The Korean Institute of Power Electronics.

关键词： Agriculture

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Proposal and Validation of a Series Hybrid System Using a DC-Input Direct Electric-Power Converter D-EPC 11

Proposal and Validation of a Series Hybrid System Using a DC...

引用

11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Matsuno, Hiroki Akiyama, Hiromu Yoshimoto, Kantaro Yokoyama, Tomoki Tokyo Denki University Department of Robotics and Mechatronics Tokyo Japan

ISBN: (纸本)9788957083505

A novel hybrid system using DC-input direct electric-power converter (D-EPC) has been proposed. D-EPC is an inverter capable of controlling the distribution of power from two sources. In this paper, the power distribution control of D-EPC achieves the voltage boost for series hybrid system without a boost chopper. The voltage of the smoothing capacitor is controlled at a constant level using the power distribution control of D-EPC to maintain the motor drive voltage regardless of load variations. The effectiveness of the proposed hybrid system was verified by simulation and the prototype D-EPC circuit. © 2023 The Korean Institute of Power Electronics.

关键词： Hybrid vehicles

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Automation Control of the Movement of Robotic Device for Patient Positioning

Automation Control of the Movement of Robotic Device for Pat...

引用

2024 International Russian Automation Conference, RusAutoCon 2024

作者： Emelyanova, Oksana Tistsov, Egor Jatsun, Sergey South-West State University Dept. of Mechanics Mechatronics and Robotics Kursk Russia

This paper describes the design and control system of a robotic device for patient positioning during different types of examination, tests and surgeries. The paper describes the automotation control of the movement of such device. The paper raises the question of the importance of these developments in modern medical practices, provides examples of work in this area, and also indicates the difficulties in organizing a control system for robotic device, due to the general uncertainty of the systems, involving interacting with humans and necessity of individual programs and laws of movement of device's modules. Also, it is noted, that there are a vast variety of positions of patients, that require a medical facility to have several different types of expensive and skill-requiring equipment. The paper describes the design of the device, the location of the measuring modules, in form of an array of force sensors and the operating principle of the adaptive control system for this device. This paper describes the mathematical modeling of the behavior of this system, and different indicators of reaction between the patient and robotic devise in various positions, allowing the adaptation of device control algorithms. © 2024 IEEE.

关键词： Adaptive control systems

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FFT-UAVNet: FFT Based Human Action Recognition for Drone Surveillance System 5

FFT-UAVNet: FFT Based Human Action Recognition for Drone Sur...

引用

5th International Conference on Sustainable Technologies for Industry 5.0, STI 2023

作者： Chowdhury, Abdul Monaf Imran, Ahsan Hasan, Md Mehedi University of Dhaka Dept. of Robotics and Mechatronics Engineering Bangladesh

ISBN: (纸本)9798350394290

Unmanned aerial vehicles (UAVs) have emerged as a transformative technology for human action recognition, providing a birds-eye view and unlocking new possibilities for precise and comprehensive support in surveillance systems. While substantial advances in ground-based human action recognition have been achieved, the unique characteristics of UAV footage present new challenges that require tailored solutions. Specifically, the reduced scale of humans in aerial perspectives necessitates the development of specialised models to accurately recognize and interpret human actions. Our research focuses on modifying the well-established C3D model and incorporating Fast Fourier Transform (FFT)-based object disentanglement (FO) and space-time attention (FA) mechanisms. By leveraging the power of FFT, our model effectively disentangles the human actors from the background and captures the spatio-temporal dynamics of human actions in UAV footage, enhancing the discriminative capabilities and enabling accurate action recognition. Through extensive experimentation on a subset of the UAV-Human dataset, our proposed FFT-UAVNet (m-C3D+FO&FA+FC) model demonstrates remarkable improvements in performance. We achieve a Top-1 accuracy of 64.86% and a Top-3 accuracy of 83.37%, surpassing the results obtained by the standard C3D and X3D methods, which achieve only a Top-1 accuracy of 28.05% and 31.33%, respectively. These findings underscore the efficacy of our approach and emphasize the significance of the proposed model for UAV datasets in maximizing the potential of UAV-based human action recognition. © 2023 IEEE.

关键词： Computer vision

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Data-driven System Decoupling Algorithm with Transfer Function Decoupling Matrix 49

Data-driven System Decoupling Algorithm with Transfer Functi...

引用

49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Yoon, Jegwon Kong, Taejune Jung, Hanul Oh, Sehoon Dgist Department of Robotics and Mechatronics Engineering Daegu Korea Republic of

ISBN: (纸本)9798350331820

A Multi-Input-Multi-Output (MIMO) system has complex interactions between inputs and outputs, resulting in a coupling effect that can lead to undesired motions. To effectively control MIMO systems, decoupling is necessary. This paper introduces a decoupling method that uses a transformation matrix modeled as a transfer function using Frequency Response Function (FRF). Unlike the conventional decoupling method uses constant transformation matrix obtained through Canonical Polyadic Decomposition (CPD) and shows performance degradation in certain frequency bands, the proposed method creates transformation matrix as a transfer function and demonstrates better decoupling performance across the entire frequency band. The performance of the proposed method is validated through simulations on a hybrid dual-drive gantry stage. © 2023 IEEE.

关键词： Transfer functions

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Boosting System Control with Power Distribution for Series Hybrid System Using D-EPC 26

Boosting System Control with Power Distribution for Series H...

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26th International Conference on Electrical Machines and Systems, ICEMS 2023

作者： Matsuno, Hiroki Yoshimoto, Kantaro Yokoyama, Tomoki Tokyo Denki University Department of Robotics and Mechatronics Tokyo Japan

ISBN: (纸本)9798350317589

A novel hybrid system using DC-input direct electric-power converter (D-EPC) has been proposed. D-EPC is an inverter with two DC power inputs, which can control the power distribution of the two power sources. The hybrid system using D-EPC can be boosted without the boost converter by using the power distribution control of the D-EPC. This study proposes a method for deriving the voltage command value for boost control and determining the power distribution ratio for the generated power and motor drive power, depending on the motor drive status. © 2023 IEEE.

关键词： Hybrid vehicles

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A Driving Direction Estimation Algorithm for Obstacle Avoidance of a Wheel-less Snake Robot 26

A Driving Direction Estimation Algorithm for Obstacle Avoida...

引用

26th International Conference on mechatronics Technology, ICMT 2023

作者： Lim, Seunghyun Song, Jinhyeok Yun, Dongwon Dgist Department of Robotics and Mechatronics Engineering Daegu Korea Republic of

ISBN: (纸本)9798350381429

This paper describes a driving direction estimation algorithm of a wheel-less snake robot and verifies that the algorithm allows the robot to locomote as desired in ROS-based simulation. Snake robots have serious operational difficulties since their driving directions are not intuitive. Therefore, a driving direction should be estimated for autonomous locomotion, such as path tracking and obstacle avoidance. A driving direction estimation algorithm based on the kinematics of the snake robot is used with path planning and tracking algorithms. The suggested driving direction estimation algorithm allowed straightness improvement and path tracking in the simulation environment. © 2023 IEEE.

关键词： Motion planning

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CACS20223 Mechatronic Joystick Drive with Feedback for excavator

CACS20223 Mechatronic Joystick Drive with Feedback for excav...

引用

2023 International Automatic Control Conference, CACS 2023

作者： Oleksii, Shatokhin Bucinskas, Vytautas Mechatronic Systems Faculty of Vilniaus Gedimino Technikos Universitetas Student of Department of Mechatronics Robotics and Digital Manufacturing Lithuania Robotics and Digital Manufacturing Department of Mechatronics United States

ISBN: (纸本)9798350306354

The purpose of this work is to develop and perform research on a universal joystick drive system for different manual hydraulic distributors and improve its operation performance by introducing a new mechatronic design and a control algorithm. To do this, research of various sensors will be carried out. Research on the operation of sensors in the joystick drive system will help further developments in this direction and can add additional functions such as automatic, tele-operated, or manual with dig assistance. Implementing a mechatronic system for hydraulic system control in existing excavators and other hydraulic driven machines. This new developed device and methodology of their implementation will convert an excavator into a robot containing 4 degrees of freedom. Research based on the original test bench, consisting of computer-controlled drives for hydraulic distributor manipulation of real excavator working joysticks. The development allows you to upgrade equipment instead of buying a new one, which reduces the cost of updating and makes it easier for workers, as well as allows them to work more efficiently. © 2023 IEEE.

关键词： Excavators

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Minimizing energy loss using an optimal control algorithm for an active human exoskeleton 6

Minimizing energy loss using an optimal control algorithm fo...

引用

6th International Youth Conference on Radio Electronics, Electrical and Power Engineering, REEPE 2024

作者： Deeb, Delshan Merkuryev, Igor V. National Research University 'MPEI' Mechatronics Dynamics and Strength of Machines Department of Robotics Moscow Russia

ISBN: (纸本)9798350382891

Due to the advancement of technology and the increasing use of exoskeletons, it is necessary to reduce energy losses in lower limb exoskeletons. So far, a novel optimal control algorithm has been introduced to reduce energy losses as much as possible with preserving the state of equilibrium. After a limited number of iterations, the suggested control algorithm can calculate the global optimum value of energy losses. Several stages were taken in this work to design the best control algorithm that has the largest reduction in energy losses in lower limb of the exoskeleton joints under study. The suggested control algorithm is then used to create a feedback controller. In order to evaluate the efficacy of this approach, Lyapunov analysis was implement the. The transient response simulation results for various joints demonstrate that the suggested control algorithm can be used as the most efficient means of minimizing energy losses and preserving the exoskeleton under study's equilibrium state to the greatest extent feasible. © 2024 IEEE.

关键词： Energy dissipation

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