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European Control Conference (ECC)

作者： Ahmed Khalifa Mohamed Fanni Toru Namerikawa Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Department of System Design Engineering Keio University Yokohama Japan Department of Production Engineering and Mechanical Design Mansoura University Mansoura Egypt

This paper introduces motion control scheme of a new aerial manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation systems. It is very attractive for a wide range of applications due to their unique features. However, control of such system is quite challenging because it is naturally unstable, has strong nonlinearities and couplings, has fast dynamics, is very susceptible to parameters variations due to carrying a payload besides the external disturbances like wind, and has actuator limitations. A robust optimal linear control scheme is proposed to address these issues. The proposed control scheme is based on a hybrid linear Model Predictive Control (MPC) and linear Disturbance Observer (DOb) techniques. The motivation for using DOb is to provide the robustness against the nonlinearities/uncertainties. In addition, it allows one to solve the control problem relying on a set of linear decoupled SISO system which are not affected by nonlinear/uncertain terms. To deal with the actuators' constraints and achieve an optimal controller efforts, a standard MPC will be used. The resulting control scheme is characterized by a low computational load with respect to conventional nonlinear robust solutions. Stability analysis of the proposed control system is presented. The controller is tested to achieve of a point-to-point task space control, under the effect of picking/placing a payload, changing the operating region, and measurement noise. System simulation is implemented in MATLAB/SIMULINK environment with real system parameters, to better emulate a realistic set up. Simulation results enlighten the effectiveness of the proposed control technique.

关键词： Robustness Control systems Payloads Mathematical model Manipulator dynamics

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Locomotion Control of Snake-like Robot on Geometrically Smooth Surface

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IFAC-PapersOnLine 2015年第11 11期48卷 162-167页

作者： Yanagida, Takeru Kasahara, Makito Iwase, Masami Department of Robotics and Mechatronics Graduate School of Science and Engineering Tokyo Denki University 5 Senju-Asahi-cho Adachi Tokyo120-8551 Japan

A locomotion control of a snake-like robot on geometrically smooth surface is developed. To design the motion control, a mathematical model of the snake-like robot is derived by Projection Method (PJ method). Utilizing PJ method leads not only the mathematical model but also the constraints applied to the robot. The constraints give important information on the smooth surface. State-Dependent Riccati Equation (SDRE) control strategy taking the constraints into account realizes locomotion on the smooth surface for the snake-like robot. The effectiveness of the proposed method is verified through numerical simulations in which the snake-like robot is twining around and climbing a column. © 2015

关键词： Machine design Equations of state Models Numerical methods Riccati equations Robots constraint Control strategies Geometrically smooth Locomotion control Projection method Smooth surface Snake like robot State dependent Riccati equation

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Cooperative network behaviour analysis model for mobile Botnet detection

Cooperative network behaviour analysis model for mobile Botn...

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International Conference on Computer Applications and Industrial Electronics (ICCAIE)

作者： Meisam Eslahi Moslem Yousefi Maryam Var Naseri Y. M. Yussof N. M. Tahir H. Hashim Faculty of Electrical Engineering Universiti Teknologi MARA Malaysia Center for Advanced Mechatronics and Robotics Universiti Tenaga Nadional Malaysia Advanced Informatics School University Technology Malaysia Malaysia

ISBN: (纸本)9781509015443

Recently, the mobile devices are well integrated with Internet and widely used by normal users and organizations which employ Bring Your Own Device technology. On the other hand, the mobile devices are less protected in comparison to computers. Therefore, the mobile devices and networks have now become attractive targets for attackers. Amongst several types of mobile threats, the mobile HTTP Botnets can be considered as one of the most sophisticated attacks. A HTTP Bots stealthily infect mobile devices and periodically communicate with their controller called Botmaster. Although the Bots hide their activities amongst the normal web flows, their periodic pattern has been used as a measure to detect their activities. In this paper we propose a cooperative network behaviour analysis model to identify the level of periodicity posed by mobile Bots. Finally three metrics is proposed to detect Mobile HTTP Botnets based on similarity and correlation of their group activities. Test results show that the propose model can efficiently classify communication patterns into several periodicity categories and detect mobile Botnets.

关键词： Mobile communication Command and control systems Mobile handsets Mobile computing Analytical models Correlation Protocols

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Wearable strain sensors fabricated by silver nanowire patterning method based on parylene stencil technique

Wearable strain sensors fabricated by silver nanowire patter...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Namsun Chou Sohee Kim School of Mechatronics Gwangju Institute of Science and Technology (GIST) Gwangju Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu Republic of Korea

This paper describes a fabrication method of the silver nanowire (AgNW) patterns on PDMS substrate using a parylene stencil technique. The AgNW electrodes with the straight line and serpentine line traces were fabricated and characterized in terms of electromechanical properties. The sensitivity of the AgNW patterns was measured using a custom-designed stretch test module, resulting in gauge factors from 55.2 to 2.7 at 2% strain for two different 100 um-wide AgNW patterns. The wearable sensor based on AgNW patterns was designed and fabricated to epidermally detect the respiration and heart rate from the abdomen and neck. The respiration was continuously recorded for 10 min successfully. The heart rate from the carotid artery was also recorded without applying external pressure.

关键词： Capacitive sensors Substrates Electrodes Heart rate Resistance Silver Fabrication

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Dynamics analysis and control of all-terrains wearable vehicle

Dynamics analysis and control of all-terrains wearable vehic...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Mohamed S. Raessa Mohamed Fanni Abdelfatah M. Mohamed Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept. Mansoura University Egypt

ISBN: (纸本)9781467380768

Transferring humans while carrying loads on all types of terrains efficiently using compact means of transportation is still a challenge. This may be due to the unstructured areas humans need to move through, or due to traffic congestions in structured roads. Some compact-size, light-weight transportation systems have been developed but they provide only a partial solution to the stated problem. This paper presents the dynamics analysis and control of a novel all-terrains wearable vehicle, a new transportation means consisting of a lower extremity exoskeleton carrying two motorized wheels and two free wheels. On flat free ground, this novel system utilizes its wheels to travel fast and when faced with crowded traffic or unstructured area, the human just switches into walking mode. CAD models of the human and the wearable vehicle are developed, and a dynamic human walker is built in MSC ADAMS and is used for proving the feasibility the proposed wearable vehicle in its two modes of operation. PD controller with gravity compensation is designed to ensure that the wearable vehicle is tracking the human motion in the walking mode, and the results obtained show the effectiveness of the controller, the vehicle dynamics are also studied, and the critical acceleration safety margins are defined.

关键词： Vehicles Legged locomotion Exoskeletons Solid modeling Wheels Acceleration Vehicle dynamics

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Predicting operator's cognitive and motion skills from joystick inputs

Predicting operator's cognitive and motion skills from joyst...

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Annual Conference of Industrial Electronics Society

作者： Mikko Laurikkala Satoshi Suzuki Matti Vilkko Department of Automation Science and Engineering Tampere University of Technology Tampere Finland Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Department of Automation Science and Engineering Tampere University of Technology Tampere Finland

The skill level of a human operator is crucial in operating a complicated process. In this paper, we pay particular attention to operating a forest harvester. A simple computer game simulates the operation of a harvester as well as collects input data from the player and output data from the simulation model. First, we study the nature of the input and output data and illustrate them using PCA. Then, we proceed to using only input data and train a neural network model from operator inputs to skill level. Results show that the skill can be predicted reasonably well. The model itself is static, but dynamics are captured using specific indicators. Using bare input data simplifies data collection and makes the prediction faster. We do not have to use data that depend on the machine or environment, and the skill level can be predicted soon after the operator grabs the controls. The next phase will be using the skill information for operation support.

关键词： Artificial neural networks Size measurement

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Design of a novel hybrid exoskeleton for mass handling

Design of a novel hybrid exoskeleton for mass handling

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Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)

作者： B. M. Sayed Mohamed Fanni Abdelfatah M. Mohamed Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Mechanical Engineering Dept. Mansoura University Mansoura Egypt Electrical Engineering Department Assiut University Egypt

Legged locomotion become the first choice of transportation of the human while carrying the loads in all types of terrain, but their speed are still limited with the human walking speed. This paper proposes the design of a novel Hybrid Exoskeleton for Mass Handling (HEMH), which consists of a lower extremity exoskeleton carrying two serial manipulator attached to the human arms (RRR). Whereas, the end effector movement is (RP). HEMH has two motorized wheels and has two free wheels installed under its feet for traveling from site to other. These manipulators are designed for special use in National Institute for Standard-Egypt (NIS). The HEMH has five Degrees of Freedom (DOF) per leg; two DOF for the hip joint, one DOF for the knee joint and two DOF for the ankle joint. It has two actuators per leg for motion in the sagittal plane and two motors for each serial manipulator. These arms are used for facilitating the weighing process. The mechanical parts of the system are designed using Titanium alloys (CP-Ti (UNS R50700)) to minimize the weight of the system. The proposed design is examined under the maximum loads by using COSMOS software to check its feasibility in different modes of motion.

关键词： Exoskeletons Legged locomotion Calibration Manipulators Wheels Foot Standards

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Dynamic modeling and robust motion control of a 2D compliant pantograph for micromanipulation

Dynamic modeling and robust motion control of a 2D compliant...

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International Conference on Control, Automation and robotics (ICCAR)

作者： Abdullah T. Elgammal Mohamed Fanni Manar Lashin Abdelfatah M. Mohamed Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Mechanical Engineering Dept. Mansoura University Mansoura Egypt Electrical Engineering Department Assiut University Egypt

This paper investigates the dynamic modeling and robust motion controller for a compliant pantograph manipulator with/without guiding mechanism. The pseudo-rigid-body model is used to allow flexible elements to be modeled as rigid body mechanism. Afterward Euler-Lagrange formulation method is used to get the dynamic model of the compliant mechanism. The proposed controller consists of two loops, internal and external loops. The robust internal loop compensator strategy guarantees a robust stability and performance in the presence of uncertainty and external disturbances. On the other hand, the external loop is designed to meet the performance criterion. Simulation results are based on Co-simulation between MS-ADAMS and MATLAB. The nonlinear model is exported from MS-ADAMS to capture the dynamics of the manipulator while MATLAB is used to implement the controller algorithm. A disturbance input force is applied to the control input to test the robustness of the controller. The whole results show the efficiency of the proposed controller in tracking desired trajectory accurately to be used in micromanipulation.

关键词： Mathematical model Dynamics Robustness Manufacturing processes Potential energy Manipulator dynamics

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Low cost robotic endoscope design considerations

Low cost robotic endoscope design considerations

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robotics and mechatronics Conference (RobMech)

作者： Riaan Stopforth Shaniel Davrajh Kaspar Althoefer Stopforth Robotics and Mechatronics Research Lab University of KwaZulu-Natal Durban South Africa Department of Mining Engineering and Mine Surveying University of Johannesburg Faculty of Science and Engineering Queen Mary University of London London England

An endoscopic robot capable of assisting medical professionals in the public health sector by providing imaging and biopsy functionalities during Gastrointestinal Tract (GIT) procedures at a reduced cost, was to be designed. The endoscope was designed using soft robotic technology and to use a novel approach to provide robust and precise control over the robot. The design is separated into functional sections: the head module, bending module, body module, the hydraulic system and control network. Material selection was based on suitability for use in the GIT and its ability to withstand medical cleaning. The results of computational analysis and simulation illustrated the robotic endoscope can be actuated utilising a bending module comprising of variably pressurised chambers and this actuation can be accurately controlled and allows system disturbances to being effectively rejected. The proposed design was evaluated against current endoscopes and indicated improvements in precision control of the motion of the endoscope and the cost of production, and the use of the endoscopes in a South African context.

关键词： Endoscopes Stress Robots Head Cameras Gastrointestinal tract Force

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An experimental characterization of human torso motion

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Frontiers of Mechanical engineering 2015年第4期10卷 311-325页

作者： CAFOLLA CECCARELLI I-Ming CHEN LARM Laboratory of Robotics and Mechatronics DICEM Universityof Cassino and South Latium Cassino Italy School of Mechanical and Aerospace Engineering NanyangTechnological University Singapore

The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.

关键词： experimental biomechanics human torso,analysis inertial sensor characterization

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