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2018 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Li, Xiaocong Teo, Chek Sing Tay, Arthur Mamun, Abdullah Al Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National Universit of Singapore Singapore117583 Singapore Mechatronics Group Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315121 China

ISBN: (纸本)9781538618547

The dual-drive H-gantry (DHG) is widely used for high-speed high-precision Cartesian motion control applications. Compared with the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is allowed. Nevertheless, the flexure-linked design possibly induces the resonance of the gantry because of the chattering of control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the available ones and optimize the decentralized feedback controller parameters under parametric uncertainties. The mechatronic design problem is formulated as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, from here, numerical procedures are developed to obtain the global optimum by means of an outer-linearization-based optimization algorithm. Experiments are carried out and the results successfully validate the optimality and the robustness of the proposed design approach. © 2018 IEEE.

关键词： Feedback control

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A Fsr Based Data Acquisition System to Study the Interaction of Different Footwear with Different Foot-Regions

A Fsr Based Data Acquisition System to Study the Interaction...

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International Conference on Electronics, Materials engineering and Nano-Technology (IEMENTech)

作者： Siddhartha Sarkar Bipin Kumar Singh Nirupama Mandal Shakti Sangram Behera Computational Instrumentation Division CSIR-Central Scientific Instruments Organisation Chandigarh India Department of Electronics Engineering Indian Institute of Technology (ISM) Dhanbad India School of Mechatronics and Robotics Science and Technology Shibpur India

This article describes the design and development of a data acquisition system to capture the effect of footwear on human foot & gait cycle. It involves the calculation of Duty Cycle & Period of force-sensing resistors (FSR) which are mounted on right and left foot insoles. Two FSR sensors are placed at the fore-foot, one FSR sensor is placed at mid-foot and one FSR sensor is placed at rear-foot. An op-amp based FSR current-to-voltage converter circuit is designed and corresponding voltage data of each force-sensing resistors are collected using an AVR based SD Card module. Duty cycle & Period is calculated from the data stored in the SD Card module using MATLAB software and further processed to obtain the mean, standard deviation & kurtosis of each FSR sensor. In this exploratory study 3 Male participants are instructed to walk on Grassy Surface and Concrete Surface wearing 3 different footwear i.e. Sports shoe, Causal shoe and Sandal at different rates as walking and jogging while wearing the FSR mounted insoles. Anova Tests and subsequent T-Tests on the statistical parameters of duty cycle shows significant (α = 0.05) variation among different foot regions for the three different footwear with varying degree. These results indicate that our foot is affected by different types of footwear while walking and jogging on different surfaces affecting the Gait pattern of the participant's foot at Stance phase of the Gait cycle, which determines the dynamic characteristic of human locomotion.

关键词： Sensors Foot Force Footwear Legged locomotion Resistors Bones

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UnDeepVO: Monocular Visual Odometry Through Unsupervised Deep Learning

UnDeepVO: Monocular Visual Odometry Through Unsupervised Dee...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ruihao Li Sen Wang Zhiqiang Long Dongbing Gu School of Computer Science and Electronic Engineering University of Essex Colchester UK Edinburgh Centre for Robotics Heriot-Watt University Edinburgh UK College of Mechatronics and Automation National University of Defense Technology Changsha China

We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient features of the proposed UnDeepVo:one is the unsupervised deep learning scheme, and the other is the absolute scale recovery. Specifically, we train UnDeepVoby using stereo image pairs to recover the scale but test it by using consecutive monocular images. Thus, UnDeepVO is a monocular system. The loss function defined for training the networks is based on spatial and temporal dense information. A system overview is shown in Fig. 1. The experiments on KITTI dataset show our UnDeepVO achieves good performance in terms of pose accuracy.

关键词： Training Cameras Machine learning Three-dimensional displays Estimation Image sequences Visual odometry

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Bio-inspired jumping maneuver for launching flapping wing micro air vehicles

Bio-inspired jumping maneuver for launching flapping wing mi...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Omuzi A. Hudson Mohamed Fanni Sabah M. Ahmed Ahmed Sameh Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology New Borg El Arab City Egypt Production Eng. & Mechanical Design Department Mansoura University Mansoura Egypt Department of Electrical Engineering Assiut University Assiut Egypt

This paper presents the design and simulation of a jumping mechanism as a means of flight initiation in Flapping Wing Micro Air Vehicles (FWMAV) inspired by birds. Most flying birds take off for flight from standing or perching position at low air speed. A lightweight 4-bar leg mechanism has been designed using dimensional synthesis by motion generation. Graphical and analytical methods are established to determine the kinematic dimensions that fulfill some prescribed take-off maneuvers. Link cross sections have been optimized to reduce weight. The jumping leg has been tested with an efficient aerodynamic model that accurately predicts unsteady flapping wing aerodynamic characteristics just after launching. Transition of forces from leg to wings has been analyzed. For a jumping angle of about 50 degrees at 10m/s the 33.3 g ornithopter model gains momentum and reaches steady state flight at a velocity close to the initial value.

关键词： Conferences Autonomous robots

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Dance teaching by a robot: Combining cognitive and physical human-robot interaction for supporting the skill learning process

arXiv

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arXiv 2018年

作者： Paez Granados, Diego Felipe Yamamoto, Breno A. Kamide, Hiroko Kinugawa, Jun Kosuge, Kazuhiro Graduate School of Engineering Department of Robotics Tohoku University Sendai980-8579 Japan School of Mechanical Engineering Mechatronics Engineering Department Federal University of Uberlandia UberlandiaMG38408-100 Brazil Institute of Innovation for Future Society Nagoya University Nagoya464-8601 Japan

This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for assisting the skill learning process. Direct contact cooperation has been designed through an adaptive impedance-based controller that adjusts according to the partner's performance in the task. In measuring performance, a scoring system has been designed using the concept of progressive teaching (PT). The system adjusts the difficulty based on the user's number of practices and performance history. Using the proposed method and a baseline constant controller, comparative experiments have shown that the PT presents better performance in the initial stage of skill learning. An analysis of the subjects' perception of comfort, peace of mind, and robot performance have shown significant difference at the p Copyright © 2018, The Authors. All rights reserved.

关键词： Human robot interaction

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Cover Image, Volume 10, Issue 2

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WIREs Cognitive Science 2019年第2期10卷

作者： Philipp Beckerle Claudio Castellini Bigna Lenggenhager Elastic Lightweight Robotics Group Robotics Research Institute Technische Universität Dortmund Dortmund Germany Institute for Mechatronic Systems in Mechanical Engineering Technische Universität Darmstadt Darmstadt Germany Institut of Robotics and Mechatronics DLR German Aerospace Center Oberpfaffenhofen Germany Cognitive Neuropsychology Department of Psychology University of Zurich Zurich Switzerland

The cover image is based on the Focus Article Robotic interfaces for cognitive psychology and embodiment research: a research roadmap , by Philipp Beckerle, Claudio Castellini, and Bigna Lenggenhager, https://***/10.1...

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Implementation of different gas influence for operation of modified atomic force microscope sensor 12th

Implementation of different gas influence for operation of m...

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12th International Conference on Mechatronic Systems and Materials, MSM 2016

作者： Bučinskas, Vytautas Dzedzickis, Andrius Šutinys, Ernestas Lenkutis, Tadas Faculty of Mechanical Engineering Department of Mechatronics and Robotics Vilnius Gediminas Technical University J.Basanavičiaus str. 28 VilniusLT-03224 Lithuania

ISBN: (纸本)9783035711677

This paper presents modelling of various gas application to modified atomic force microscope sensor in order to change its existing dynamic characteristics. This paper represents part of continuous research, which is focused on improvement of scanning speed of atomic force microscope (AFM) sensor. Subject of our research is enhancement of dynamic characteristics of Atomic force microscope sensor. Natural frequency of AFM sensor is the main factor influencing max scanning speed of atomic force microscope. In case of working range of frequencies approaches to the resonant frequency of cantilever, scanning results becoming inaccurate and unreliable. Improvement of properties of atomic force sensor made by adding additional nonlinear aerodynamic force to the AFM sensor. This force would act as additional controllable stiffness element, which allows shift resonant frequency to higher side. In this paper is presented research of additional nonlinear force behavior using different gasses as well as compressed air. Research covers factor of humidity of compressed air. Our research performed using 3D atomic microscope cantilever model in SolidWorks flow simulation software. Results of simulation delivered as dependencies of additional stiffness in the AFM sensor in all modelled cases. Finally, results presented in graphical form and conclusions are drawn. © 2017 Trans Tech Publications, Switzerland.

关键词： Finite element method

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Wideband Cognitive Radio Networks Based Compressed Spectrum Sensing: A Survey

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Journal of Signal and Information Processing 2018年第2期9卷 122-151页

作者： Mohammed Abo-Zahhad Sabah M. Ahmed Mohammed Farrag Khaled Ali BaAli Electronics and Communication Engineering Department School of Electronics Communications and Computer Engineering Egypt-Japan University for Science and Technology Alexandria Egypt Electrical and Electronics Engineering Department Faculty of Engineering Assiut University Assiut Egypt Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University for Science and Technology Alexandria Egyp Electrical Engineering Department King Khalid University (KKU) Abha KSA Electronics and Communication Department Faculty of Engineering and Petroleum Hadhramaut University Mukalla Republic of Yemen

Spectrum sensing is a core function at cognitive radio systems to have spectrum awareness. This could be achieved by collecting samples from the frequency band under observation to make a conclusion whether the band is occupied, or it is a spectrum hole. The task of sensing is becoming more challenging especially at wideband spectrum scenario. The difficulty is due to conventional sampling rate theory which makes it infeasible to sample such very wide range of frequencies and the technical requirements are very costly. Recently, compressive sensing introduced itself as a pioneer solution that relaxed the wideband sampling rate requirements. It showed the ability to sample a signal below the Nyquist sampling rate and reconstructed it using very few measurements. In this paper, we discuss the approaches used for solving compressed spectrum sensing problem for wideband cognitive radio networks and how the problem is formulated and rendered to improve the detection performance.

关键词： Cognitive Radio Spectrum Sensing Compressive Sensing Compressed Measurements Nyquist Sampling Rate

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Primary User Detection in Cognitive Radio Networks Over Fading Channel Using Compressed Sensing

Primary User Detection in Cognitive Radio Networks Over Fadi...

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Japan-Egypt International Conference on Electronics, Communications and Computers (JEC-ECC)

作者： M. Abo-Zahhad Sabah M. Ahmed Mohammed Farrag Khaled Ali BaAli Electronics and Communication Engineering Dep. E-JUST Alexandria Egypt Mechatronics and Robotics Engineering Dep. E-JUST Alexandria Egypt Electrical Engineering Dep. King Khalid University Abha KSA Electronics and Communication Dep. Hadhramaut University Hadhramaut Yemen Republic

ISBN: (纸本)9781538692318;9781538692301

Compressed spectrum sensing has gained considerable importance among researchers in the field of concern as a solution for wideband cognitive radio networks. Recently, published works on detecting primary users' signals presented sustainable results by using small compression ratios over the AWGN channel. To the best of our knowledge, since the performance of compressed measurements based detection has not been investigated yet over fading channels, the current study, therefore, presents the performance of compressed measurements based energy detection over Rayleigh fading channel. The proposed work has been implemented by means of MATLAB software. In comparison with the traditional compressed energy detection over the Rayleigh fading channel, the results show that our proposed technique is better in detection performance.

关键词： Fading channels Cognitive radio Detectors Wideband Energy measurement Signal to noise ratio

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Control of a 2-DOF inverted pendulum on an Omni-directional platform

International Journal of Mechatronics and Applied Mechanics

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International Journal of mechatronics and Applied Mechanics 2018年第4期2018卷 17-26页

作者： Song, Tao Jia, Qibo Guo, Shuai Dai, Wei Xi, Fengfeng Jeff Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai University HC204 No. 99 Road Shangda Shanghai200444 China Department of Aerospace Engineering Ryerson University 350 Victoria Street TorontoONM5B 2K3 Canada

This paper presents a method for the control of a 2-DOF inverted pendulum mounted on an omni-directional mobile platform. The system dynamics model is first established, and then two controllers are designed considering the acceleration and motor torque as two different inputs. Simulation is then carried out to compare their performances. It can be found that the torque controller is better than the acceleration controller. Two sets of experiment are conducted to show that the system can reach a stable state within 200ms. © 2018, Cefin Publishing House. All rights reserved.

关键词： Inverted pendulum

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