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International Conference on Energy, Communication, Data Analytics and Soft Computing

作者： Thomas Jacob L. M. Saini Subhasis Bhaumick School of Biomedical Engineering NIT Kurukshetra School of Mechatronics & Robotics IIEST Shibpur

ISBN: (纸本)9781538618882

Out of the 5.4 million persons with disability, a majority has locomotor disability and the most common reason is amputation. A significant number of amputees are transtibial amputees (TTA). Traditional powered prosthesis depends on the myoelectric signal from the muscles in the stump of residual limb, which is already a weak source of signal. This study attempts to establish relation between the muscles of the thigh and the muscles of the lower limb and thus, predict intention for ankle movement using the muscles of thigh of the TTA making use of the cyclic nature of gait The prediction is based on the detection of muscle activity, extracting a trigger signal and generating a suitable response based on the natural angular rotation of ankle in a non-amputee. EMG data was measured for ten healthy individuals along with the goniometer data for measuring the ankle rotation. The recorded data was processed to obtain trigger signals to drive a simulated virtual foot. The averaged ankle rotation per gait cycle is standardized and used as the effective movement of the simulated foot With additional improvement in timing and speed adaptation, this method can prove to be a better solution for myoelectric prosthesis, especially in cases where the residual limb cannot generate usable myoelectric signals.

关键词： Ankle-foot Prosthesis Amputee Gait prediction Intention detection Prosthetic control

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Outer-Linearization-Based Optimization Algorithm for Decentralized Control Design in Flexure-Linked H-Gantry

Outer-Linearization-Based Optimization Algorithm for Decentr...

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IEEE/ASME International Conference on Advanced Intelligent mechatronics

作者： Jun Ma Si-Lu Chen Wenyu Liang Xiaocong Li Chek Sing Teo Arthur Tay Abdullah Al Mamun Kok Kiong Tan Department of Electrical and Computer Engineering National University of Singapore Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Chinese Academy of Sciences Ningbo Zhejiang China Department of Electrical and Computer Engineering National Universit of Singapore Singapore Mechatronics Group Singapore Institute of Manufacturing Technology Singapore

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 H_2 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.

关键词： Decentralized control Optimization Uncertainty Feedforward systems Adaptive control Robustness Actuators

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The effects of parameter variation in open-loop and closed-loop control scheme for an electro-hydraulic actuator system

International Journal of Control and Automation

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International Journal of Control and Automation 2016年第11期9卷 283-294页

作者： Soon, C.C. Ghazali, R. Jaafar, H.I. Hussien, S.Y.S. Sam, Y.M. Rahmat, M.F. Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Hang Tuah Jaya Melaka76100 Malaysia Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor81310 Malaysia

It is well known that the electro-hydraulic actuator (EHA) system is exposed to the disturbances, uncertainties, and parameter variations which are caused by the changes in operating conditions for instance, total moving mass, supply pressure, servo-valve gain, bulk modulus, leakage coefficient, and friction. These problems pose to a great challenge in modelling and controller development for an EHA system. Degradation of the desired performance can be imposed if an improper control strategy is utilized. This paper discusses the fundamental study on the significant effect that leads to degradation of EHA system performance due to variation in the system parameters. A nonlinear EHA system model is developed and implemented in the simulation studies in open-loop and closed-loop control configuration. The finding shows that the servo-valve gain resulted the most influential parameters to the EHA system performance as compared to the total moving mass and supply pressure parameters. In order to overcome these issues, the utilized controller should be robust enough to overcome the entire operating range that against such disturbances, uncertainties, and parameter variations. Therefore, a nonlinear and the intelligent control approach may be necessary to be designed in order to overcome these difficulties. © 2016 SERSC.

关键词： Closed loop control systems

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Macro/micro-positioning control and stability analysis of contactless active robotic joint using active magnetic bearing

Macro/micro-positioning control and stability analysis of co...

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

作者： Mohamed Selmy Mohamed Fanni Abdelfatah M. Mohamed Faculty of Engineering at Shoubra Benha University Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept Mansoura University Egypt Electrical Engineering Department Assiut University Egypt

ISBN: (纸本)9781509062355

In clean environments, such as surgery or clean rooms, the robots with conventional joints are source of friction, dust generation, and oil lubrication. To overcome this problem, robots with contactless active robotic joint using active magnetic bearing (AMB) can be used. Moreover, this proposed kind of robots can be used in the applications that need high precision micropositioning control such as semiconductor wafers manipulation to form semiconductor devices. In this paper the macro/micro-positioning control of a novel contactless active robotic joint using active magnetic bearing is presented. In addition, the stability analysis of the controller is studied. The robotic joint used in this paper is designed using finite element method. This joint has 6 degrees-of-freedom (DOFs), 1-DOF for robot joint roll angle and 5-DOF for AMB. The robot joint roll angle is controlled in macro-scale accuracy. The macro-scale positioning of the joint roll angle is needed for gross motion like normal robot revolute joint. The other 5-DOF of the joint are controlled like AMB with the different that the target pitch and yaw angles as well as the axial, vertical and horizontal movements are different than zero but in micro-scale range. The robot joint roll angle is controlled using a PID-based Feedback linearization controller, while a state feedback controller with integral term is used for controlling the AMB 5-DOFs. The macro/micro-positioning control of the novel robotic joint is implemented using MATLAB/Simulink. The robustness of the controllers is tested against payload variations. The results demonstrate that the proposed novel robotic joint is feasible and valid in the applications that need high precision macro-micro-positioning control.

关键词： Robots Mathematical model Air gaps Brushless DC motors Magnetic levitation

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Type of Deterioration in Active Rollers for Hot Rolling Mill

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IOP Conference Series: Materials Science and engineering 2018年第3期444卷

作者： F Tudose-Sandu-Ville S Tudose-Sandu-Ville Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania University of Agricultural Sciences and Veterinary Medicine Iaşi Horticultural Technologies Department Iaşi Romania

The high prices of rolling mill cylinders, the energetic consumption and the lack of the alloying elements, determine the research development and studies regarding the improvement of the cylinder life service. The research presented within this paper aimed, at first, to describe the main rolling mill rollers failure types emphasizing the main destruction form – exfoliation of the external hard layer. The goal was to link the origin of this failure type to the Jacq thermal anomaly in heat transfer. This is a new approach on thermomechanical contact fatigue, taking into account the same location of the critical stresses for both mechanical load and thermal tide on the same contact surface. After the research was conducted on a lot of rolling mill rollers made by the same producer by cast iron with a hardened layer, one observed that the exfoliation, as a form of roll-specific damage, is due to the temperature difference between the layers. In poor or insufficient cooling conditions, which causes an adhesion phenomena in areas where the cohesion structure is affected in the superficial layer, a cleavage between the layers appears at a depth of installation of both the decisive mechanical stress and the Jacq thermal anomaly.

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Finding the coefficient of rolling friction using a pericycloidal pendulum

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IOP Conference Series: Materials Science and engineering 2018年第2期444卷

作者： S Alaci F C Ciornei C Bujoreanu M C Ciornei I L Acsinte 'Stefan cel Mare' University of Suceava Romania Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania 'The University of Medicine and Pharmacy 'Carol Davila' Bucharest Romania

The paper presents a method of establishing the coefficient of rolling friction by the study of the damped motion of a pericycloidal pendulum. The pericycloid is the curve described by a point belonging to a mobile circle, which is in pure rolling around a fixed circle, accomplishing an interior contact. For a pendulum with known inertial characteristics, mass and moment of inertia, the equation of motion is found starting from the assumption of a linear dependence between the friction torque and the normal reaction force from contact point. Using an experimental set-up, the law obeyed by damped angular amplitude versus time is found for a pericycloidal pendulum. The experimental data are compared to the theoretical ones, by superposition; thus, the value of coefficient of rolling friction is obtained. The values are in a good agreement with the ones from technical literature.

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Analytical kinematics for direct coupled shafts using a point-surface contact

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IOP Conference Series: Materials Science and engineering 2018年第5期444卷

作者： F C Ciornei I Doroftei S Alaci G Prelipcean C Dulucheanu Mechanics and Technologies Department 'Stefan cel Mare' University of Suceava Romania Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Romania Bosch Company Cluj Jucu Romania

The purpose of the paper is to accomplish the kinematics study of a direct coupling between two shafts with a high pair joint, of point-surface type. Due to Hartenberg and Denavit, the kinematics analysis of spatial mechanisms can be made by a well-known method, named the 'homogenous operators method'. This manner is applicable only for spatial mechanisms containing cylindrical pairs with particular solutions: prismatic pair and revolute pair. In order to apply the Hartenberg-Denavit procedure for the two shafts, the contact between the two shafts must be previously replaced by a succession of 5 prismatic and revolute pairs. It results a system of six trigonometric equations with six unknowns that requires a numerical methodology for solving it. The paper aims to obtain an analytical dependency between the motions of the two shafts. To this end, the geometrical condition that defines the connection between the two shafts is directly used. Thus, after all positional parameters are expressed in the same frame of reference an equation between the positional parameters of the two shafts is obtained.

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Effect of Slice Error of Glass on Zero Offset of Capacitive Accelerometer

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Journal of Physics: Conference Series 2018年第1期986卷

作者： R Hao H J Yu W Zhou B Peng J Guo Department of Mechatronics Engineering Center for Robotics University of Electronic Science and Technology of China Chengdu Sichuan P.R. China School of Mechanical Engineering University of South China Heng yang Hunan421000 People's Republic of China

Packaging process had been studied on capacitance accelerometer. The silicon-glass bonding process had been adopted on sensor chip and glass, and sensor chip and glass was adhered on ceramic substrate, the three-layer structure was curved due to the thermal mismatch, the slice error of glass lead to asymmetrical curve of sensor chip. Thus, the sensitive mass of accelerometer deviated along the sensitive direction, which was caused in zero offset drift. It was meaningful to confirm the influence of slice error of glass, the simulation results showed that the zero output drift was 12.3×10-3 m/s2 when the deviation was 40μm.

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Soft robotics: Definition and research issues

Soft robotics: Definition and research issues

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International Conference on mechatronics and Machine Vision in Practice (M2VIP)

作者： Ang Chen Ruixue Yin Lin Cao Chenwang Yuan H.K. Ding W.J. Zhang School of Mechatronics and Automation Shanghai University Shanghai China Department of Mechanical Engineering University of Saskatchewan Saskatoon Canada School of Mechanical and Power Engineering East China University of Science and Technology Shanghai China Robotics Research Center Nanyang Technological University Singapore

Soft robots have been a buzz word in the field of robotics. However, there are several definitions of soft robots in literature with their varying degrees of usefulness to providing guidelines for designing and constructing a soft robot. This paper attempts to provide a comprehensive definition of soft robots with the goals that the definition should be of (i) generality and (ii) practicality. By generality, it is meant that the definition gives the signature to soft robots and is all inclusive, and by practicality, it is meant that the definition provides a general guideline for practicing designers to design and construct soft robots to particular applications. A salient point in our definition of soft robots is the concept of softness, which is defined from the perspective of a receiving object - particularly as the stress and other damage quantities (e.g., deflection) created in the receiving object when the receiving object interacts with the soft system per se. A further contribution is the provision of definitions to soft sensor, soft actuator along with power generator, soft controller, and soft mechanism. Finally, research issues on soft robots are outlined.

关键词： Robot sensing systems Soft robotics Strain Actuators Generators Stress

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Design of soft actuator using 3D-printed composite

Design of soft actuator using 3D-printed composite

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Sung-Hyuk Song Sung-Hoon Ahn Cheol Hoon Park Young Su Son Department of Mechanical & Aerospace Engineering Seoul National University Seoul Korea Department of Robotics and Mechatronics Korea Institute of Machinery & Materials Daejeon Korea Institute of Advanced Machines and Design Seoul National University Seoul Korea

This paper describes a soft composite actuator using a 3D-printed scaffold structure. The actuator consists of a scaffold structure embedded in the center and two wires embedded above and below the scaffold to generate motion. Each component is combined with a soft polymer, so it has the advantage of a soft morphing motion. When the wire is pulled, a bending based motion is generated, because of the eccentric force, according to the neutral surface of the composite actuator. The actuating shape can be designed according to the scaffold layer combination and deformation magnitude can be controlled by the length of the pulled wire. Two different scaffold structures, consisting of symmetric and asymmetric ply combinations, were used, and symmetric and asymmetric bend-twist motions (upper 4.3°, lower 25.9° twisting angle) can be realized.

关键词： Actuators Wires Polymers Shape Service robots Couplings

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