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检索条件"机构=Mechatronics and Robotics Engineering"

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Receding-horizon planning using recursive Monte Carlo Tree Search with Sparse Action Sampling for continuous state and action spaces

Receding-horizon planning using recursive Monte Carlo Tree S...

引用

American Control Conference

作者： Moritz Schneider Laboratory of Control Methods and Robotics Institute of Automatic Control and Mechatronics Dept. of Electrical Engineering and Information Technology Technische Universit?t Darmstadt Germany

ISBN: (纸本)9781467386838

This paper introduces a recursive, sampling-based Monte Carlo Tree Search (MCTS) approach to planning, i.e. receding horizon control, in continuous state and action nonlinear set-point control problems. Usually, predictive control methods for nonlinear systems aim at (sub-)optimal control behavior through solving a dynamic optimization problem over a fixed prediction horizon in every time step. Tree-based methods, which have recently gained interest in planning, model-based reinforcement learning and path planning, replace the optimization problem by an incremental probabilistic search for (sub-)optimal open-loop control sequences in the space of variable-length closed-loop trajectories. The benefit of using a weaker optimization procedure is that the algorithm is very simple to understand/apply and works for general nonlinear systems. This article is concerned with increasing the control performance and sampling-efficiency of MCTS in continuous state and action spaces based on ideas from the field of standard nonlinear model predictive control.

关键词： Search problems Planning Aerospace electronics Optimization Trajectory Monte Carlo methods Prediction algorithms

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A venipuncture detection system for robot-assisted intravenous catheterization

A venipuncture detection system for robot-assisted intraveno...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Zhuoqi Cheng Brian L. Davies Darwin G. Caldwell Leonardo S. Mattos Department of Advanced Robotics Fondazione Istituto Italiano di Tecnologia Genova Department of Mechanical Engineering Mechatronics in Medicine Laboratory London U.K.

ISBN: (纸本)9781509032884

Vascular access is frequently required for patients admitted to hospitals. This requires a delicate process of intravenous (IV) catheterization that, as opposed to common believe, suffers from a high failure rate typically close to 30%. In case of special patients such as infants, the elderly, and people with diabetes or other health conditions that affect blood vessels, the challenge to achieve intravenous access is higher, leading to an even lower venipuncture success rate. Stopping the needle before the first vein wall or going completely through the vein are the common causes of failure, and can potentially cause severe damage to the soft tissue. In this study we propose a new robotic system to improve the venipuncture procedure. The system is based on a high resolution motion stage and a new detection system able to measure the electrical impedance of tissue around the IV needle tip. This detection system allows the discrimination of the different tissue types accessed during the insertion process, and a fast and robust detection of vein entry by detecting blood. This paper presents the design and development of this new robot-assisted venipuncture system. Experiments in realistic phantoms were designed and undertaken for the system's evaluation, which also demonstrated the effective performance of the proposed venipuncture detection system.

关键词： Veins Needles Robots Phantoms Impedance Blood Impedance measurement

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Integrated mechatronics design of flexure joint and controller in dual-drive gantry: a constrained H2 optimization approach

Integrated mechatronics design of flexure joint and controll...

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2017 IEEE International Conference on Advanced Intelligent mechatronics, AIM 2017

作者： Ma, Jun Chen, Si-Lu Kamaldin, Nazir Teo, Chek Sing Tay, Arthur Mamun, Abdullah Al Tan, Kok Kiong Department of Electrical and Computer Engineering SIMTech-NUS Joint Lab on Precision Motion Systems National University of Singapore 117582 Singapore Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore Mechatronics Group Singapore Institute of Manufacturing Technology 138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315121 China NUS Grad. School for Inte. Sci. and Eng. and Department of Electrical Computer Engineering National University of Singapore 119077 Singapore

ISBN: (纸本)9781509059980

The dual-drive H gantry is widely used in many industrial processes that require high precision Cartesian motion. The conventional rigid-link version suffers breaking down of joints if any de-synchronization between the two carriages occurs. To prevent above potential risk, a novel biaxial gantry with flexure-links is designed to allow a small rotation angle of the cross-Arm. Nevertheless, the chattering of control signals and inappropriate design of the flexure joint will possibly induce resonant modes of the end effector. Thus, in this work, the design requirements in terms of tracking accuracy, biaxial synchronization, and resonant mode suppression are achieved by integrated optimization of the stiffness of flexures and PID controller parameters for a class of point-To-point trajectories with same dynamics but different steps. From here, an H2 optimization with defined constraints is formulated, and an efficient iterative solver is proposed by hybridizing direct computation of constrained projection gradient and line search of optimal steps. Comparative experiments results obtained on the testbed are presented to verify the effectiveness of proposed method. © 2017 IEEE.

关键词： Constrained optimization

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Assembly of hepatic lobule-like microtissue with repetitive single-step contact manipulation

Assembly of hepatic lobule-like microtissue with repetitive ...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Zeyang Liu Masaru Takeuchi Masahiro Nakajima Toshio Fukuda Yasuhisa Hasegawa Qiang Huang Department of Micro-Nano Systems Engineering Nagoya University Japan Center for Micro-nano Mechatronics Nagoya University Japan Institute for Advanced Research Nagoya University Japan Intelligent Robotics Institute Beijing Institute of Technolog China Department of Mechatronics Engineering Meijo University Japan

ISBN: (纸本)9781509027866

This paper reported a cell system that fabricates hepatic lobule-like microtissue (HLLM) based on alginate-Calcium electrodeposition and cell microcapsule method. The property of the fabricated HLLM includes: 1) With a shape similar to our native hepatic lobule tissue. 2) High cell dense (~10 8 ). 3) Easily be moved and retrieved for further 3D assembly. Therefore, we proposed a repetitive single-step manipulation method to assemble these single HLLM into 3D multilayer hepatic lobule model. The pick-up success rate was approximating 90%. The assembly speed was about 0.4 microtissue/min and the cell viability was higher than 80%. Unlike other assembly methods, our method is sufficiently repeatable and easy to assemble many single micro modules. The fabricated 3D hepatic lobule model with high cell density is essential for tissue engineering applications.

关键词： Three-dimensional displays Nonhomogeneous media Liver Shape mechatronics Solid modeling

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Development and performance analysis of wireless sensor node for structural health monitoring using fast fourier and wavelet transform

Development and performance analysis of wireless sensor node...

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International Conference on Control, Instrumentation, Energy and Communication (CIEC)

作者： Saikat Kr Shome Siddheswar Sen Koushik Mondal Uma Datta Electronics & Instrumentation Group CSIR-Central Mechanical Engineering Research Institute Durgapur India School of Mechatronics & Robotics (SM&R) Indian Institute of Engineering Science and Technology Shibpur India

This paper presents development and performance analysis of a sensor node including accelerometer, temperature and humidity sensors for wireless sensor network (WSN) system intended for structural health monitoring (SHM) application. The developed prototype integrates software and hardware based on ARM controller, having excellent processing capability in terms of increased on board RAM and better power management facility. Data from sensor nodes are reliably transmitted to the base station, i.e. sink placed at a distance of about 30m. The system is verified using accelerometer data received at the base station through Fast Fourier Transform and found equivalent with that of a standard vibration data logger. Accelerometer data has also been explored in time-frequency domain using wavelet transform. The study also points out the best wavelet basis in the parlance of low frequency SHM applications.

关键词： Wireless sensor networks Vibrations Wavelet analysis Continuous wavelet transforms Accelerometers

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Zero-offset calibration using a screw theory

Zero-offset calibration using a screw theory

引用

International Conference on Ubiquitous Robots and Ambient Intelligence

作者： Youngwoo Choi Joono Cheong Jin Ho Kyung Hyun Min Do Department of Control and Instrumentation Engineering Korea University 2511 Sejong-ro Korea Department of Robotics and Mechatronics Korea Institute of Machinery & Materials Daejeon 305-343 Korea

ISBN: (纸本)9781509008223

In this paper, we propose an algorithm to easily correct zero-offset in robotic manipulators by identifying screw information. The proposed algorithm improves the accuracy of the robot even if there may be errors in the other geometric parameters. To identify the screw information, the robot is made to create a circular trajectory by rotating a certain joint, while other joints being fixed, and then its endpoints are measured by a laser tracker. The screw information such as rotation axis and a point along the axis is computed through a least-square circle fit. By comparing the resulting screw information from the measurement and that from the kinematic model, we determine the amount of zero-offset in the least square sense. Thus we can enhance the position accuracy by compensating for the determined zero-offset associated with the kinematic model. We show the effectiveness of the proposed algorithm via experimentation using a dual arm robot manipulator.

关键词： Calibration Zero-offset Screw

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Road Traversability analysis using network properties of roadmaps

Road Traversability analysis using network properties of roa...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Muhammad Mudassir Khan Haider Ali Karsten Berns Abubakr Muhammad Dept. of Electrical Engineering LUMS Pakistan Robotics and Mechatronics Center German Aerospace Center (DLR) Germany Dept. of Computer Science TU Kaiserslautern Germany

ISBN: (纸本)9781509037636

Traversability analysis is an important aspect of autonomous navigation in robotics. In this paper, we relate the idea of traversability to safety and ease of road usage by defining a novel sensor-data driven metric called Road Traversability Index (RTI). The RTI translate the geometric interaction of vehicle with road into a distance modulated index that can be used as advice for a human driver or an autonomous agent intending to traverse a particular road segment using a specific vehicle. We present a framework in which 3D sensor data is converted into a road model, which in turn is converted into a roadmap based motion planning graph to represent the underlying configuration space. The RTI is defined as a function of the roadmap by axiomatically satisfying all required properties of road traversability. We have tested our algorithmic framework on simulated scenarios to explore safety;and real-world data sets to discover aspects of traversability for vehicles of various types. Experimental results show that RTI is a practical tool that reveals information that may be hidden to human inspection or other methods of assessment that do not explicitly model a vehicle.

关键词： Roads Three-dimensional displays Indexes Space vehicles Robot sensing systems Solid modeling

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Stability augmentation system for a tethered airship 16

Stability augmentation system for a tethered airship

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16th AIAA Aviation Technology, Integration, and Operations Conference, 2016

作者： Santos, Jônatas Sant’Anna Stevanović, Stojan Kondak, Konstantin Holzapfel, Florian Goes, Luiz Carlos Sandoval Pant, Rajkumar S. Institut für Robotik und Mechatronik Robotics and Mechatronics Center Oberpfaffenhofen Weling82234 Germany Munich80333 Germany São José dos Campos São Paulo12228-900 Brazil MumbaiMaharashtra400076 India Flight Dynamics Department Germany Aerospace Engineering Department IIT Bombay India School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

ISBN: (数字)9781624104404

ISBN: (纸本)9781624104404

This paper presents the dynamic analysis of an unmanned tethered airship in hovering flight using a stability augmentation system. A comparison between tethered aerostats and airships is made, and the benefits and issues related to a tethered airship are highlighted. Since airships are not designed to be stable as tethered aerostats, a stability augmentation system is implemented in the flight control system. The dynamic equations of motion and the controller for the tethered airship are described. A linearized model is obtained by finite difference approach and the gains are obtained using LQR technique. The details of the flight control system and experimental set up are provided. Outdoor flight testing of the tethered airship was conducted and the stability of natural dynamics and active control response was analyzed in the time domain using flight test data. The results obtained validated the closed-loop system for the range of wind condition tested once the stability augmentation is achieved. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Airships

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Fabrication of brain tumor for medical simulator

Fabrication of brain tumor for medical simulator

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Akiyuki Hasegawa Akihiko Ichikawa Masahiro Nakajima Akio Morita Masaru Takeuchi Toshio Fukuda Department of Mechatronics Engineering Meijo University Japan Center for Micro-nano Mechatronics Nagoya University Japan Department of Neurosurgery Nippon Medical School Hospital Japan Department of Micro-Nano Systems Engineering Nagoya University Japan Intelligent Robotics Institute Beijing Institute of Technology China

ISBN: (纸本)9781509027866

Brain tumor is likely to be serious for human, and medical surgery simulator has been devised for training of their removal. In this study, we have focused on the soft brain tumor and propose the tumor model which is wrapped in thin membranes to the combination of water-absorbing polymers (main component: sodium polyacrylic acid salt) and viscous materials to be bonded by filling between them. This model has a reputation to be close to a kind of brain tumor.

关键词： Tumors Brain modeling Plastics Fabrication Surgery Young's modulus

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Fabrication of dura mater model for medical simulator

Fabrication of dura mater model for medical simulator

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Takuya Uda Masahiro Nakajima Akiyuki Hasegawa Akihiko Ichikawa Akio Morita Masaru Takeuchi Toshio Fukuda Department of Mechatronics Engineering Meijo University Japan Center for Micro-nano Mechatronics Nagoya University Japan Department of Neurosurgery Nippon Medical School Hospital Japan Department of Micro-Nano Systems Engineering Nagoya University Japan Intelligent Robotics Institute Beijing Institute of Technology China

ISBN: (纸本)9781509027866

Medical simulator is important to improve the operation skills with training system for medical doctors. In this study, dura mater model of human brain is fabricated to aim in reproduction of 3D structure. To mimic the physical properties of actual dura mater tissue, we propose a dura mater model in which are embedded a fiber sheet in a silicone resin. A tensile test was carried out to evaluate the effect of fiber sheet inside silicone resin.

关键词： Solid modeling Fabrication Brain modeling Surgery Three-dimensional displays Two dimensional displays

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