检索结果-内蒙古大学图书馆

2021 International Conference on Automatics and Energy, ICAE 2021

作者： Saypulaev, M.R. Zuev, Yu Yu Saypulaev, G.R. Dept. of Robotics Mechatronics Dynamics and Machine Strength National Research University MPEI Moscow Russia

The object of the study is an exoskeleton of the lower extremities with a rigid structure of the power frame, which has 7 degrees of freedom. The movement of the exoskeleton in the sagittal plane is considered with the assumption of symmetrical movement of the right and left legs. The aim of the study is to develop a mathematical model of the dynamics of the exoskeleton, taking into account the forces of viscous friction in the joints. The equations of motion are obtained under the condition that there is no slippage of the points of contact with the supporting surface. Based on the results of numerical simulation, the control moments were obtained, which must be created by the drives to provide program movement. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Equations of motion

来源：评论

学校读者我要写书评

暂无评论

EDEN Versatile End-effector (EVE): An Autonomous Robotic System to Support Food Production on the Moon

EDEN Versatile End-effector (EVE): An Autonomous Robotic Sys...

引用

IEEE Conference on Aerospace

作者： Andre Fonseca Prince Jean-Pascal Lutze Maximilian Maier Werner Friedl Daniel Leidner Claudia Philpot Vincent Vrakking Eugen Ksenik Daniel Schubert German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany German Aerospace Center (DLR) Institute of Space Systems Bremen Germany

Spacefaring nations have already expressed their plans for a sustainable human and robotic exploration on the Moon. This endeavor highlighted in the Global Exploration Roadmap (GER) foresees the development of infrastructures such as habitats, greenhouses, science labs, power plants, and mining facilities. Following this long-term vision, the German Aerospace Center (DLR) EDEN LUNA Project presents a Moon-analogue greenhouse facility which can demonstrate nearly closed-loop bio-regenerative life support systems technology and aim to produce fresh food for astronauts on the Moon in the near future. To optimize the food production and overcome challenges inherent to space missions, the EDEN Versatile End-effector (EVE) is integrated to the EDEN LUNA Greenhouse. This support system is a valuable payload which will automatize the tasks of the entire plant cultivation process: from germination to harvesting. The automatization is particularly relevant when the food production is intensified either seasonally or in a future scaled-up scenario. The EVE system encompasses a linear rail system installed on the ceiling of the greenhouse, a 7-Degrees of Freedom (DOF) autonomous robotic arm with high precision joint configuration, a sensorized robotic hand which can grasp delicate objects, and a sophisticated computer vision camera with plant monitoring capabilities. When in operation, the EVE system uses shared autonomy features. Thus, while it maintains the human in the loop for some of the decision-making processes, it can also function with some level of autonomy. A set of tasks previously defined by an astronaut in the end of an operational day and carried out autonomously during the night by the EVE system is one example of this human-robot collaboration. In addition, an optimized motion planning will ensure that the EVE system can perform constrained manipulation tasks in a limited workspace observing energy efficiency and safety requirements. This is explained in the pa

关键词：

来源：评论

学校读者我要写书评

暂无评论

Effect of Pneumatic Based Hybrid Robotic Gripper for Safer Handling of Complex Geometries

Effect of Pneumatic Based Hybrid Robotic Gripper for Safer H...

引用

International Conference on Advanced Computer Control, ICACC

作者： Santhosh Sivaraj Ajay Ravi Bibin Joe Jose Gobinath Velu Kaliyannan Rajkamal Sivakumar Riya Catherine Amalraj Department of Robotics and Automation Easwari Engineering College Chennai TamilNadu India Department of Mechatronics Engineering Kongu Engineering College Perundurai TamilNadu India

ISBN: (数字)9798350379136

ISBN: (纸本)9798350379143

The present research work mainly concentrates on development of hybrid grippers with the integration of hard and soft components for achieving object manipulation. By combining pneumatic actuation with mechanical fingers, complex geometries can be handled effectively. Pneumatic hybrid gripper fabricated with PLA and silicone rubber offers adaptability and versatility. Resistive sensors over silicone surface of gripper lead to cost-effective force detection and tactile sensing. The proposed gripper was designed and analyzed using Fusion 360 and ANSYS. Inflatable silicone rubber and gripper body were fabricated using liquid casting and Fused Deposited Modelling 3D printing techniques. Real-time feedback sensors were employed with fabricated gripper to get better performance. Testing proves its capability to handle loads up to 500g with a force of 3.3N. Finally, the assembled hybrid gripper offers a versatile solution for robotic manipulation, ensuring stability and minimizing damage across various industries.

关键词： Service robots Force Tactile sensors Pneumatic systems Real-time systems Sensors Rubber Grippers Intelligent sensors Testing

来源：评论

学校读者我要写书评

暂无评论

Modular Multimodal CanBot Trajectory Tracking with Optical Motion Capture System

Modular Multimodal CanBot Trajectory Tracking with Optical M...

引用

Automation, Control and robotics Engineering (CACRE), International Conference on

作者： Carrington Chun Andrea Martinez Angulo M. Hassan Tanveer Sumit Chakravarty Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta USA Department of Electrical and Computer Engineering Kennesaw State University Marietta USA

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

CanSats are earth bound analogues for orbital micro and picosatellites. These devices have become increasingly relevant as small-scale satellites, such as CubeSats, have grown in popularity and accessibility. With additional robotic frontiers for the exploration of space also becoming increasingly accessible, analogous systems for researching planetary surface rovers may also be potentially relevant. This research expands on the emerging field of “CanBots”, which refers to this kind of earth-bound analogue for planetary surface exploring robots. The novel modular CanBot developed in this research represents a unique design framework whereby mobility aspects of the vehicle form discrete and interchangeable modules. Initial characterization of the locomotion capabilities of these modules were determined independently using an optical Motion Capture system. Then the modules were combined into a single multimodal system for additional mobility testing. Vehicle trajectories for an Aerial Quadrotor CanBot, Terrestrial Quadruped CanBot and the combined Multimodal CanBot have been compiled in this research. Initial results suggest that the Multimodal CanBot can successfully reproduce the locomotion techniques for the aerial and terrestrial modalities, but at the cost of lower overall movement efficiency in either modality.

关键词： Space vehicles Satellites Trajectory tracking Motion capture Space exploration Trajectory Quadrupedal robots

来源：评论

学校读者我要写书评

暂无评论

Action-Driven Tactile Object Exploration for Shape Reconstruction via Silver Nanowire Injected Sensors

Action-Driven Tactile Object Exploration for Shape Reconstru...

引用

IEEE/SICE International Symposium on System Integration

作者： Tleukhan Mussin Yermakhan Kassym Nurlan Kabdyshev Marat Kaikanov Zhanat Kappassov School Engineering and Digital Sciences Nazarbayev University Dept. of Robotics and Mechatronics Nazarbayev University Astana Kazakhstan Physics Department Nazarbayev University

We present an action-driven tactile exploration system using flexible touch sensors integrated into the fingertips of a robot hand. These sensors are made from foams injected with silver nanotubes that exhibit resistance changes under pressure to enable tactile perception. A microcontroller-based unit captures the resistance, with communication deployed using the Robot Operating System. Our approach is evaluated in tactile object exploration, where robotic finger movements estimate the coordinates of the points of contact upon collisions with an object. Through repeated grasps, a point cloud of the shape of an object is generated. Distinct finger movements, or affordances, are developed to collect new contact points to discriminate four different shapes, including cube, cylinder, pyramid, and sphere. We benchmark our approach on medium and large sets of objects.

关键词：

来源：评论

学校读者我要写书评

暂无评论

HEAT TREATMENT PARAMETERS INFLUENCE ON THE CAVITATION RESISTANCE OF AN ALUMINUM ALLOY

引用

UPB Scientific Bulletin, Series B: Chemistry and Materials Science 2023年第3期85卷 239-252页

作者： Odagiu, Petrișor-Ovidiu Salcianu, Cornelia Laura Ghera, Cristian Buzatu, Andreea Daniela Micu, Lavinia Madalina Luca, Alexandru Nicolae Bordeasu, Ilare Ghiban, Brandusa Dept. of Metallic Materials Science and Physical Metallurgy University POLITEHNICA of Bucharest Romania Dept. of Mechatronics and Robotics University POLITEHNICA of Timisoara Romania Dept. of Mechanical Machinery Equipment and Transport University POLITEHNICA of Timisoara Romania Dept. of Agricultural Technologies-Department I Banat University of Agricultural Sciences and Veterinary Medicine of Timisoara Timisoara Romania

The aluminum based alloy are widely used in different applications. The type 2017 A is characterized by high values of mechanical properties, which is why it is used for parts subjected to various mechanical stresses, in the fields of automotive, aviation and also in hydraulic equipment. Lately, as a result of the evolution of machines and mechanical processing processes, its application to high-speed propeller blades and rotors of heat engine cooling pumps has been sought. As these parts work in cavitation mode, in order to increase the resistance to erosion created by micro-jets and shock waves, specialists are investigating the effect of various techniques applied for this purpose. The results of the research on the behavior and strength of the 2017A alloy, heat treated by three aging regimes (180°C, 140°C and 120°C), with the same maintenance duration (24 hours), to the erosion produced by the cavitation generated by vibration are also included in this direction. The analysis of surface degradation, performed based on photographic images from various times and microscopic ones at the end of the cavitation attack, as well as based on the evolution of characteristic curves and parameter values recommended by ASTM G32-2016, it is found that the most appropriate treatment is from 120°C. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Cavitation

来源：评论

学校读者我要写书评

暂无评论

Preprocessing Taste Data for Deep Neural Networks 14

Preprocessing Taste Data for Deep Neural Networks

引用

14th International Conference on Information and Communication Technology Convergence, ICTC 2023

作者： Lee, Hyunjong Jung, Han Hee Kwak, Jeongho Yea, Junwoo Choi, Jihwan P. Jang, Kyung-In Department of Electrical Engineering and Computer Science Daegu Korea Republic of Dgist Department of Robotics and Mechatronics Engineering Daegu Korea Republic of Dgist Department of Electrical Engineering and Computer Science Daegu Korea Republic of Department of Aerospace Engineering Dajeon Korea Republic of

ISBN: (纸本)9798350313277

Analyzing wine using taste data is a promising field due to the explosive expansion of online commerce. However, because of the wide variety of wine types with different flavors and aromas, it is difficult for consumers to choose the wine that suits their taste, and also difficult for sellers to recommend appropriate wines to consumers. Therefore, it is necessary to numerically analyze and classify wine, and a deep learning algorithm which mimics the human brain is appropriate for analyzing the wine data [1]. In this paper, we introduce several studies of wine classification using deep learning architectures and propose preprocessing methods for applying the taste data of wine to deep learning networks. © 2023 IEEE.

关键词： data augmentation deep learning preprocessing taste classification taste sensor wine

来源：评论

学校读者我要写书评

暂无评论

Approximate Neural Network-based Nonlinear Model Predictive Control of Soft Continuum Robots

Approximate Neural Network-based Nonlinear Model Predictive ...

引用

IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Hend Abdelaziz Abdullah Ahmed Haitham El-Hussieny Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology (E-JUST) New Burg El-Arab City Alexandria Egypt

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

This paper employs a deep learning approach to enhance the task space control of soft continuum robots. We built an approximate data-driven dynamics model of a soft robot using sampled Cartesian positions of the robot’s tip and its actuator tensions. We then incorporated this surrogate model into a Model Predictive Control (MPC) control scheme, enabling nonlinear control for task space trajectory tracking without relying on an exact analytical dynamics model of the robot or extensive computations. By involving constraints into the MPC, we addressed the robot’s workspace and actuation limits. The numerical results of the simulation experiment show that deep learning dynamic models can improve robotic control. This leads to accurate trajectory tracking and suggests that deep learning could be used more in robot system control, especially for real-time control applications.

关键词： Deep learning Trajectory tracking Computational modeling Predictive models Aerospace electronics Soft robotics Control systems Numerical models Continuum robots Predictive control

来源：评论

学校读者我要写书评

暂无评论

Bilow – Knee-Prothesis Study

Bilow – Knee-Prothesis Study

引用

International Conference on Perspective Technologies and Methods in MEMS Design (MEMSTECH)

作者： Ruslan Kopot Sebastian But Orest Ivakhiv Intelligent Mechatronics and Robotics Department Lviv Polytechnic National University Lviv Ukraine Institute of Applied Mechanics Poznan University of Technology Poznań Poland

One of the most common types of the military wounds is below-the-knee amputation. A person with such problem needs a dynamic foot to be able to move and perform simple *** bionic foot might be helpful in the nearest f... 详细信息

ISBN: (数字)9798350378627

ISBN: (纸本)9798350378634

关键词： Micromechanical devices Design methodology Companies Wounds Task analysis Prosthetics

来源：评论

学校读者我要写书评

暂无评论

Real-time static custom gestures recognition based on skeleton hand

Real-time static custom gestures recognition based on skelet...

引用

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

作者： Osipov, Alexander Ostanin, Mikhail Innopolis University Innopolis Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9781665424066

Gesture recognition is one of the natural ways of human-computer interaction (HCI) that will positively affect their use. This paper presents an approach for real-time static gestures recognition based on the skeleton of a hand using a MediaPipe framework and Support Vector Machine(SVM) classification. The approach demonstrated high accuracy of recognition gestures 98.74% on a dataset of sign-digit-gestures as well as runtime 71 fps. Moreover, the approach is required only one camera sensor for recognition. The proposed approach can be extended for dynamic gesture recognition and used to control robots and computer devices. © 2021 IEEE.

关键词： Support vector machines

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：