In this paper, a new conceptual design of the huggable robot Probo is proposed. The new robotic head, with 21 degrees of mobility, is actuated using only ‘‘hobby’’ servos and consists of five different functional ...
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Based on the analysis of the grinding model and grinding process of ball nut, the grinding process software for ball nut is developed by using VB programming language and Access database technology. Afterwards, the so...
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Real-time detecting information marked on billets is important for automatically manufacturing and management in steelworks. But due to the tough production environments in steel enterprises, capturing and identifying...
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In this paper, we tested a dynamic control law on a 2DOF robot walking leg. To achieve this, we modeled the system using bond graphs, and the Sliding Control Method for real time control. To increase performance of th...
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In this paper, we tested a dynamic control law on a 2DOF robot walking leg. To achieve this, we modeled the system using bond graphs, and the Sliding Control Method for real time control. To increase performance of the robot trajectory tracking control a fuzzy gain adjustment inside the dynamic control method have been used and the new results include the systems' influence on the sliding parameter. The research results lead to improve of the walking robot movement control on unstructured and bumped surfaces.
As a new environmental-protection technology, large-scale ammonia-based Flue Gas Desulfurization (FGD) requires high control and process technology. The process of FGD almost includes all the operation units in chemic...
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This paper proposes a trajectory generation method for mobile robot by extending the trajectory segment iteratively. Considering the practical uses of the mobile robot like service purpose in the real world, it requir...
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This paper proposes a trajectory generation method for mobile robot by extending the trajectory segment iteratively. Considering the practical uses of the mobile robot like service purpose in the real world, it requires that the trajectory planning is done adaptively by depending on the situation changes. For that, designated waypoints for future motion are given sequentially from the environment recognition process and thus trajectory generation should be processed in dynamical situation. In this paper, we described an iterative extension of the polynomial-based trajectory by considering the designated waypoint, the continuity with the existing trajectory segment and the stoppage constraint at the end of each trajectory segment. Proposed method provides the next trajectory segment for a certain period by referring to these conditions. Resultantly, iteratively generated trajectory segments connect each other smoothly and organize a single continuous trajectory. Computer simulations with proposed method were conducted and the results were shown. They showed proposed method realizes trajectory generation based on sequential extension of the trajectory segment.
Modeling large nonlinear elastic deformation of elastomers is an important issue for developing new materials. Particularly, this is very promising for design and performance analysis of dielectric elastomers (DEs). T...
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Robot-assisted needle-based surgeries are sought to improve many operations, from brain surgery to spine and urological procedures. Force feedback from a needle can provide important guidance during needle insertion. ...
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ISBN:
(纸本)9781424492695
Robot-assisted needle-based surgeries are sought to improve many operations, from brain surgery to spine and urological procedures. Force feedback from a needle can provide important guidance during needle insertion. This paper presents a new modelling method of needle force during insertion into soft tissue based on finite element simulation. This is achieved by analysing the results of a series of needle inserting experiments with different insertion velocities. The forces acting on the needle are then modelled based on the experimental results. A simulation is implemented to verify the designed model.
The manner in which the contact between gears teeth happens has significant influence upon the gear service life. An analytical research concerning this behavior by considering a non Hertzian model was developed. A ma...
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In recent years, there has been an increasing interest in modeling natural human movements. The main question to be addressed is: what is the optimality criteria that human has optimized to achieve a certain movement....
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In recent years, there has been an increasing interest in modeling natural human movements. The main question to be addressed is: what is the optimality criteria that human has optimized to achieve a certain movement. One of the most significant current discussions is the modeling of the reach-to-grasp movements that human naturally perform while approaching a certain object for grasping. Recent advances in Inverse Reinforcement Learning (IRL) approaches have facilitated investigation of reach-to-grasp movements in terms of the optimal control theory. IRL aims to learn the cost function that best describes the demonstrated human reach-to-grasp movements. Thus far, gradient-based techniques have been used to obtain the parameters of the underlying cost function. Such approaches, however, have failed to find the global optimal parameters since they are limited by locating only local optimum values. In this research, learning of the cost function for the reach-to-grasp movements is addressed as an Inverse Linear Quadratic Regulator (ILQR) problem, where linear dynamic equations and a quadratic cost are assumed. An efficient evolutionary optimization technique, Particle Swarm Optimization (PSO), is used to obtain the unknown cost for the reach-to-grasp movements under consideration. Moreover, an incremental-ILQR Algorithm is proposed to adjust the learned cost once new untrained demonstrations exist to overcome the over-fitting issue. The obtained results are encouraging and show harmony with those in neuroscience literature.
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