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Impedance Estimation of a Nonlinear Flexible Mechanical Transmission using a Dual EKF

IFAC-PapersOnLine 2022年第1期55卷 315-320页

作者： Sananda Chatterjee Soumen Sen Saikat Majumder School of Mechatronics and Robotics Indian Institute of Engineering Science and Technology Shibpur India Robotics & Automation Div. CSIR-CMERI: Central Mechanical Engineering Research Institute Govt. of India Durgapur 713209 India

In applications like human friendly robots, fast walking machines, exoskeletons and prosthetic devices, the recent trends select actuation system with physical joint flexibility. Series-elastic-actuation offers a method to achieve this flexibility having an actuator and an elastic transmission in series. In general, on having an inherent passive damping effect along with elasticity, the transmission will behave as a mechanical impedance element. In operating the transmission system, it is required to know the impedance components reliably. The best possible transmission model also is approximate only and may produce erroneous results with varying behaviour of the passive transmission with time environment condition. This paper proposes a Dual Extended Kalman Filter based method for on-line estimation of the transmission impedance of such a passive damped series-elastic transmission. The estimation is based on measurements of position and force. The effectiveness of the proposed estimator is shown through experiments on a transmission with an exponential spring and nonlinear damper, developed for a variable impedance actuator.

关键词： Nonlinear Mechanical Transmission Affine Stiffness-Force Relation Dual EKF

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Time of Single-Pulse TMS Delivery During Cognitive Task Affects Subject's Reaction Time

Time of Single-Pulse TMS Delivery During Cognitive Task Affe...

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Neurotechnologies and Neurointerfaces (CNN), International Conference

作者： Anna Udoratina Nikita Grigorev Andrey Savosenkov Denis Ermolaev Vladimir Maksimenko Susanna Gordleeva Neurotechnology Department Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia ANO Neimark Nizhny Novgorod Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9798350390926

ISBN: (纸本)9798350390933

In the present study, we investigated the effect of single-pulse TMS on sensorimotor integration (SI). Real and sham TMS was delivered while a subject performed a cognitive task to 6 areas of the cortex responsible for the motor component of SI, 200 ms or 800 ms after the presentation of visual stimuli. Here we show that the time of single-pulse TMS delivery affects the subject's reaction time (RT). RT was significantly slower (p <0.001) when stimulation occurred 800 ms after the presentation of the visual stimuli of the cognitive task regardless of the stimulation type.

关键词： Visualization Correlation Neural circuits Decision making Motors Brain modeling Electroencephalography Timing Integrated circuit modeling Neurotechnology

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Customizable and Flexible Pressure Sensor Matrix 5

Customizable and Flexible Pressure Sensor Matrix

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5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Antipov, Vladimir Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Lobachevsky University Nizhny Novgorod Russia

ISBN: (纸本)9781665442824

The paper presents a method of creating and manufacturing customizable, deformable pressure sensor matrix. The purpose of the development is creating and implementing a variety of matrix sensors with integrated electronics and software to determine the distributed pressure on different types of surfaces, as well as further use of this sensor in medical, robotics and sports. Experimental studies of the individual components and the overall sensor error were conducted. As a result of the work, the developed experimental sample was investigated, a flexible metallized base for the new sensor was developed, and also the board of onboard electronics for processing of the sensor matrix was designed and manufactured. © 2021 IEEE

关键词： Pressure sensors

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An Experimentally Validated Model of the Propeller Force Accounting for Cross Influences on Multi-Rotor Aerial Systems

An Experimentally Validated Model of the Propeller Force Acc...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Barbara Bazzana Ralph Brantjes Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this paper, we propose a model for the thrust coefficient of propellers that can take into account cross-influence between adjacent propellers. The aerodynamic interaction between propellers in multirotor aerial vehicles reduces the thrust they can produce. The influence between propellers depends on their relative positioning and orientation, which are taken into account by the proposed model. It is validated on measurements collected by a force sensor mounted on a propeller for different configurations of the adjacent propellers in a support structure. In this work, we focus on configurations with small relative orientations. Results show that the proposed model outperforms the traditional constant model in terms of thrust prediction on the data we collected, and it performs better than other models with fewer parameters, being the only one with less than 10% maximum percentage error.

关键词： Training Adaptation models Torque Propellers Atmospheric modeling Force Velocity control

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Robust Sliding Mode Based Finite-time Bilateral Shared Teleoperation System with Unsymmetrical Time-Varying Delay* 48

Robust Sliding Mode Based Finite-time Bilateral Shared Teleo...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Islam, Shafiqul Sunda-Meya, Anderson Xavier University of Louisiana Dual Degree Engineering Program Intelligent Robotics Mechatronics & Autonomous Systems Lab New Orleans70125 United States Xavier University of Louisiana College of Arts & Sciences New Orleans70125 United States

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This paper presents sliding mode-based finite-time synchronization algorithms for bilateral shared teleoperation systems under unsymmetrical time-varying delay and uncertainty. The synchronization algorithms are designed by using Lyapunov and sliding mode control theory. First, the model-based finite-time synchronization algorithms are designed by using sliding mode control theory with the presence of time-varying delays and uncertainty. Then, robust adaptive finite-time synchronization algorithms are designed for bilateral shared teleoperation systems with the presence of time-varying delays. Adaptive learning algorithms learn and adapt with uncertainty associated with the unmodeled dynamics and external disturbances. Lyapunov analysis shows that the tracking errors between master and slave manipulators converge to the sliding surface in finite time. It also shows that the tracking errors asymptotically converge to zero on the sliding surface. The design provides finite-time convergence of the states to reach the sliding surface as opposed to asymptotic convergence-based bilateral shared teleoperation systems. The design and analysis do not use the exact bound of the uncertainty. In contrast with asymptotic design, finite-time convergence can ensure faster and more robust tracking in the presence of uncertainty and time-varying delays. Unlike reported designs, the proposed algorithms can ensure convergence with the presence of unsymmetrical time-varying delays. © 2022 IEEE.

关键词： Time delay

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Task-Driven Computational Framework for Simultaneously Optimizing Design and Mounted Pose of Modular Reconfigurable Manipulators

Task-Driven Computational Framework for Simultaneously Optim...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Maolin Lei Edoardo Romiti Arturo Laurenzi Nikos G. Tsagarakis Humanoids and Human Centered Mechatronics Research Line Istituto Italiano Di Tecnologia (IIT) Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Genoa Italy

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator’s mounted pose and morphology design, therefore posing the need of methodologies for selecting suitable modular robot configurations and mounted pose that can address the specific task requirements and required performance. Morphological changes in modular robots can be derived through a discrete optimization process that involves the selective addition or removal of modules. In contrast, the adjustment of the mounted pose operates within a continuous space, allowing for smooth and precise alterations in both orientation and position. This work introduces a computational framework that simultaneously optimizes the pose and morphology mounted on modular manipulators. The core of the work is that we design a mapping function that implicitly captures the morphological state of manipulators in the continuous space. This transformation function unifies the optimization of mounted pose and morphology within a continuous space. Furthermore, our optimization framework incorporates a array of performance metrics, such as minimum joint effort and maximum manipulability, and considerations for trajectory execution error and physical and collision constraints. To highlight our method’s benefits, we compare it with previous methods that framed such problems as a combinatorial optimization problem and demonstrate its practicality in selecting the modular robot configuration for executing a drilling task with the CONCERT modular robotic platform.

关键词： Drilling Measurement Morphology Manipulators Trajectory Collision avoidance Optimization Intelligent robots Convergence

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Electro-humidity responsive soft actuators based on cellulose nanofibers-nanocrystals for bioinspired applications

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Science China Technological Sciences 2025年第7期68卷 1-9页

作者： Wang, Fan Qi, Ruibin Wu, Yujiao Li, Qinchuan Zhang, Junhui Park, Sukho School of Mechanical Engineering Zhejiang Sci-Tech University Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu Republic of Korea

Multifunctional responsive actuators have garnered considerable attention for their potential applications in soft robots, wearable devices, smart displays, environmental sensing, and biomimetic systems. Herein, we present a multifunctional color-changing ionic soft actuator that integrates electrical actuation and humidity-induced color-changing functionalities, fabricated using carboxylated cellulose nanofibers, ionic liquids, polyvinyl alcohol, cellulose nanocrystals, and poly(ethylene glycol) diacrylate. The electro-humidity responsive actuator exhibited remarkable actuation performance, including a maximum tip displacement (10.2 mm), low driving voltage (as low as 1.0 V), high operational stability (95.2% reliability after 2000 actuation cycles), broad working frequency range (0.2–3.0 Hz), and exceptional tolerance to humid environments (90% relative humidity). In addition, the actuator showcased reversible and integrated color-changing capabilities. These features enabled the design of innovative devices, such as biomimetic flowers and smart color-changing windows with tunable optical properties. Consequently, this multifunctional actuator provides a promising platform for applications in soft robots, optical anti-counterfeiting systems, information storage materials, and intelligent home technologies.

关键词： electro-humidity responsive actuator color-changing film actuation layer bioinspired applications

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Deep Reinforcement Learning Based Mobile Robot Navigation in Unknown Environment with Continuous Action Space 5

Deep Reinforcement Learning Based Mobile Robot Navigation in...

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5th International Conference on Intelligent Autonomous Systems, ICoIAS 2022

作者： Phueakthong, Phuwanat Varagul, Jittima Pinrath, Nattawat School of Mechatronics Engineering Suranaree University of Technology Nakhon Ratchasima Thailand School of Manufacturing Automation and Robotics Engineering Suranaree University of Technology Nakhon Ratchasima Thailand School of Industrial Engineering Suranaree University of Technology Nakhon Ratchasima Thailand

ISBN: (数字)9781665498388

ISBN: (纸本)9781665498388

This work aims to propose the use of deep reinforcement learning for mobile robot navigation and obstacle avoidance in previously unknown areas or without pre-made maps with continuous action control to increase the capabilities of mobile robots beyond conventional map-based navigation. Deep reinforcement learning is used to enable the robot to learn how to make decisions and interact with the environment observed from sensor data to safely navigate itself to its destination. The robot has a two-dimensional laser scanner, ultrasonic sensors and odometry sensor. Deep Deterministic Policy Gradient, which can function in continuous action space, was chosen as the deep reinforcement learning model. The robot is trained and tested in a Gazebo simulator with Robot Operating System. After the training process, the robot is put to the challenge to complete a waypoint navigation mission in four unknown areas as part of an assessment. The results indicate that the mobile robot is adaptable and has the capability of traveling to the specified waypoints and completing the job without the need for a pre-drawn route or an obstacle map in unidentified environments with the minimum success rate of 69.7 percent. © 2022 IEEE.

关键词： Reinforcement learning

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INVESTIGATION FLAPPING-FLIGHT AERODYNAMICS OF A ROBOTIC BIRD 33

INVESTIGATION FLAPPING-FLIGHT AERODYNAMICS OF A ROBOTIC BIRD

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33rd Congress of the International Council of the Aeronautical Sciences, ICAS 2022

作者： Hoeijmakers, H.W.M. Koerkamp, L.H. Groot de Santana, L.D. Venner, C.H. Stramigioli, S. Mulder, J.L. Brentjes, A. Gijsman, F. Hartman, S.A. Group Engineering Fluid Dynamics University of Twente P.O. Box 217 Enschede7500 AE Netherlands Group Robotics and mechatronics University of Twente P.O. Box 217 Enschede7500 AE Netherlands

ISBN: (纸本)9781713871163

The Robird is a bird-like drone or ornithopter that generates both lift and thrust by flapping its wings. Its appearance, size and weight, but specifically its flapping flight performance resemble that of a Peregrine falcon. This paper describes an extension of Prandtl’s Lifting-line method from steady flow to unsteady flow to predict the unsteady lift and thrust of the robotic bird. The extension comprises the derivation of the Kutta-Joukowski Theorem for unsteady flow, an unsteady Kutta condition and the representation of the wake as a stationary transpiration surface carrying a time-dependent dipole distribution, which instantaneous strength is solved from the spanwise distribution of the circulation of the lifting line at earlier times. For the cases considered, the numerical method predicts that both the section-lift and section-thrust of the wing vary with time. The cycle-averaged section-lift and section-thrust, as well as the cycle-averaged overall lift and thrust, are mostly positive during the flapping flight. Cycle-averaged distributions of sectional circulation, lift and upwash, as well as cycle-averaged overall lift depend on Strouhal number, not on pitch amplitude, while the distribution of cycle-averaged sectional thrust, as well as cycle-averaged overall thrust depend on Strouhal number and on pitch amplitude. The topology of the wake as predicted by the unsteady-lifting-line method, is compared to results of experiments performed with 2D3C PIV applied to a wind-tunnel model including a full-scale port-side wing of the Robird. For the downstroke, the near-wake of the flapping wing is a free shear layer, which vorticity distribution has the orientation as predicted by the vortex distribution determined by the unsteady-lifting-line method The results of the measurements and of the predictions show topological similarities. © (2022) by International Council of Aeronautical Sciences (ICAS) All rights reserved.

关键词： Lift

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Direct Biologically-Inspired Sliding-Mode Control of a Rotorcraft System 32

Direct Biologically-Inspired Sliding-Mode Control of a Rotor...

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32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Alvarez-Munoz, J.U. Escareno, J. Garcia Carrillo, L.R. Scola, I. Rubio Labbani-Igbida, O. Institut Polytechnique de Sciences Avancées Ivry-sur-Seine94200 France XLIM Research Institute UMR-CNRS University of Limoges Robotics and Mechatronics Department 87060 France Klipsch School of Electrical and Computer Engineering New Mexico State University Las CrucesNM88003 United States INTI CONICET and UNR Department of Industrial Products Engineering Rosario Argentina

ISBN: (纸本)9798350395440

In the context of nonlinearity and uncertainty in the control systems, this work presents a novel control strategy based on a biologically-inspired learning robust controller for the attitude stabilization of a Vertical-Take-Off and Landing (VTOL) rotorcraft. Initially, the attitude's VTOL model based on quaternion formalism is detailed to subsequently develop the corresponding control law. Such controller consists of a Brain Emotional Learning-Based Intelligent Control (BELBIC) mechanism, combined with a Super-Twisting Sliding-Mode Control (STSMC) law. By using this architecture, the nonlinear sliding-mode equivalent control term is estimated via the BELBIC model, which allows the controller not to be fully dependent on the system model. Furthermore, closed loop stability is verified through Lyapunov's theory. Finally, for validation and assessment purposes of the overall control strategy, an extensive numerical simulation stage is conducted. © 2024 IEEE.

关键词： Sliding mode control

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