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International Conference on Information and Automation (ICIA)

作者： Shaorong Xie Dechao Wang Jun Luo Yan Peng Hengyu Li Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China School of Mechatronics Engineering and Automation Shanghai University

For the complexity of ocean environment, the motion of ship is a very complicated movement, it's very important to develop a suitable mathematical model to describe it quite exactly. Also the ship control system is a nonlinear, mutative and multi-variable system which poses many new problems and challenges for trajectory tracking control methods of unmanned ship. In this paper, a nonlinear mathematical model of under-actuated unmanned ships is developed. A state feedback control law of straight-line tracking control system is presented using the Lyapunov direct method and nonlinear back-stepping. Numerical simulation using Matlab/Simulink was provided to verify the validity of the proposed method.

关键词： Marine vehicles Mathematical model Trajectory Interference Tracking Robustness

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Trajectory generation for myoelectrically controlled lower limb active knee exoskeleton

Trajectory generation for myoelectrically controlled lower l...

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International Conference on Contemporary Computing (IC3)

作者： Ananda Sankar Kundu Oishee Mazumder Ritwik Chattaraj Subhasis Bhaumik Prasanna kumar Lenka School of Mechatronics & Robotics Bengal Engineering & Science University Shibpur Kolkata India National Institute for the Orthopedically Handicapped Kolkata India

Aim of this paper is to generate joint angle trajectory of knee joint and fed it to a myoelectric controlled lower body exoskeleton to regenerate lost gait pattern. EMG signal of six different lower limb muscles has been acquired and fused using standard fusion technique discarding spurious data. From the fused EMG data, different gait parameters like stride time, gait phase etc has been calculated. Joint trajectory during a gait cycle is obtained from Kinect sensor that can extract comprehensive gait information from all parts of the body. Joint angle obtained from kinect is combined with the gait parameters acquired from EMG and together they will be fed to a robotic lower limb exoskeleton. As the exoskeleton joints are fed with true joint angle data of the user and the joints are driven by users own intention signal, functioning, control and acceptability of the exoskeleton device is much more to a user. The system has massive application in gait rehabilitation for post stroke patients, people suffering from cerebral palsy and other neuro muscular gait defects, amputees etc.

关键词： Electromyography Joints Knee Trajectory Muscles Exoskeletons Legged locomotion

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Human-human physical interaction in the joint control of an underactuated virtual object

Human-human physical interaction in the joint control of an ...

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

作者： Dalia De Santis Jacopo Zenzeri Lorenzo Masia Valentina Squeri Pietro Morasso Istituto Italiano di Tecnologia Dept. of Robotics Brain and Cognitive Sciences School of Mechanical and Aerospace Engineering Nanyang Technological University Robotics Research Center Division of Mechatronics and Design

ISBN: (纸本)9781424479276

Human-human physical interaction has proven to be advantageous especially in contexts with high coordination requirements. But under which conditions can haptic communication bring to performance benefits in a challenging cooperative environment? In this work we investigate which are the dynamics that intervene when two subjects are required to switch from a bimanual to a dyadic configuration in order to solve a complex reaching and stabilization task of a virtual tool in the presence of an unstable dynamics. Results show that dyadic cooperation can improve the performance respect to the individual condition, while minimizing the effort. However, in the joint task, when the stiffness of the system becomes harder to manipulate the feedback delays appear to be critical in determining the maximum achievable level of performance.

关键词： Force Haptic interfaces Training Delays Robot kinematics Synchronization

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Catalytic driven micro-nanorobots fabricated by direct laser writing

Catalytic driven micro-nanorobots fabricated by direct laser...

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2014 International Symposium on Micro-Nanomechatronics and Human Science, MHS 2014

作者： Bakar, Azrena Abu Nakajima, Masahiro Takeuchi, Masaru Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Center for Micro-Nano Mechatronics Nagoya University Nagoya Japan Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479966790

We present the fabrication of catalytic driven micro-nano robot by direct laser writing. The micro-nanorobot has a spiral design of 3,5, and 7 μm named D1, D2 and D3 respectively and a flat top design D4. The micro-nanorobot is catalytically driven in 6% hydrogen peroxide (H2O2) from platinum catalytic area. The result shows that the spiral micro-nanorobot increased in speed except when the micro-nanorobot exhibits the drilling motion. It showed spinning motion, self-propulsion and drilling motion for micro-nanorobot D1, D2 and D3 respectively. The flat top micro-nanorobot has the highest speed and spinning motion was displayed. Future studies should include the actual pollutants in the environment and the effects of the drilling motion on its final content should be observed. © 2014 IEEE.

关键词： Fabrication

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Influence of the geometry on the rolling friction torque in lubricated ball-race contacts 6

Influence of the geometry on the rolling friction torque in ...

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6th International Conference on Advanced Concepts in Mechanical engineering, ACME 2014

作者： Balan, Mihaela Rodica D Stamate, Vasile Ciprian Houpert, Luc Tufescu, Ana Dumitru Olaru, N. Technical University ‘Gheorghe Asachi’ Iasi Mechanical Engineering Mechatronics and Robotics Department Str. Prof. Dr. Doc. Dimitrie Mangeron 43 Iasi Romania TIMKEN Europe 2 rue Timken B.P. 60089 Colmar France

ISBN: (纸本)9783038352716

Based on a theoretical model and an experimental methodology for defining the friction torque in a modified thrust ball bearing having only 3 balls and presented in [2], the authors experimentally investigated the influence of the ball diameter on friction torque when operating in mixed and full film lubrication conditions and maintaining the normal load, the race curvature and oil viscosity constant. The experiments were realized using ball diameters between 7.938 mm and 3 mm corresponding to maximum Hertzian pressure between 0.264 GPa and 1 GPa and a rotational speed between 60 rpm to 240 rpm. The experiments confirmed that the measured friction torque can be explained using hydrodynamic rolling force relationships respecting the transition from IsoViscous Rigid (IVR) to ElastoHydrodynamic Lubrication (EHL) regime presented in [2]. © (2014) Trans Tech Publications, Switzerland.

关键词： Elastohydrodynamic lubrication

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Measurement System for Ground Reaction Forces in Skid-Steering Mobile Platform Rex

Measurement System for Ground Reaction Forces in Skid-Steeri...

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International Conference on Methods and Models in Automation and robotics

作者： Jaroslaw Szrek Krzysztof Arent Department of Biomedical Engineering Mechatronics and Theory of Mechanisms Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-320 Wroclaw Poland Chair of Cybernetics and Robotics Electronics Faculty Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-320 Wroclaw Poland

ISBN: (纸本)9781479987023

The article is focused on a measurement system for ground reaction forces in a skid-steering mobile platform. The information derived by such a system is useful for several model based control algorithms which in turn are the base for requirements of a measurement system. The system, that meets the requirements, is proposed and initially discussed. Presentation of a system concept is complemented by initial experimental results.

关键词： Ground Reaction Forces Skid-Steering Mobile Platform Rex several model

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Integrated grasp and motion planning using independent contact regions

Integrated grasp and motion planning using independent conta...

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IEEE-RAS International Conference on Humanoid Robots

作者： Joan Fontanals Bao-Anh Dang-Vu Oliver Porges Jan Rosell Máximo A. Roa Institute of Industrial and Control Engineering Universitat Politècnica de Catalunya (UPC) Institute of Robotics and Mechatronics at the German Aerospace Center (DLR)

ISBN: (纸本)9781479971756

Traditionally, grasp and arm motion planning are considered as separate tasks. This paper presents an integrated approach that only requires the initial configuration of the robotic arm and the pose of the target object to simultaneously plan a good hand pose and arm trajectory to grasp the object. The planner exploits the concept of independent contact regions to look for the best possible grasp. The goal poses for the end effector are obtained using two different methods: one that biases a sampling approach towards favorable regions using principal component analysis, and another one that considers the capabilities of the robotic arm to decide the most promising hand poses. The proposed method is evaluated using different scenarios for the humanoid robot Spacejustin.

关键词： Planning Robots Principal component analysis Grasping Kinematics Trajectory Measurement

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Inspection planning for customer-driven manufacturing environments with modular inspection stations

Inspection planning for customer-driven manufacturing enviro...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Shaniel Davrajh Glen Bright Discipline of Mechanical Engineering University of KwaZulu-Natal Durban South Africa Mechatronics and Robotics University of KwaZulu-Natal Durban South Africa

Customer-driven manufacturing environments experience frequent changes in product design which complicates the planning of inspection station layout, for minimal profit erosion. Modular inspection systems have been researched to minimize the implementation costs of inspection stations. This paper presents a solution to achieving low quality costs by considering the location and configuration of the researched modular inspection stations within a customer-driven manufacturing environment. A model was derived to minimize the Cost of Quality metric for a given set of customer requirements and inspection station configurations. The results suggested by the model were simulated and compared to the performance of the 100% and 0% inspection allocation strategies. The performance of each strategy was largely dependent on the reliability of each process involved with the assembly of the product.

关键词： Inspection Manufacturing Mathematical model Reliability Equations Standards Workstations

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An energy-saving method of office building facilities considering Person's location in the floor

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, Information and Systems 2015年第10期135卷 1210-1221页

作者： Kaneko, Yosuke Kitagami, Shinji Matsushita, Masahito Shiozuki, Tetsuo Koizumi, Hisao Information Technology R and D Center Mitsubishi Electric Corporation 5-1-1 Ofuna Kamakura Kanagawa247-8501 Japan Mitsubishi Electric Building Techno-Service Co. Ltd. 7-19-1 Arakawa Arakawa-ku Tokyo116-0002 Japan Department of Robotics and Mechatronics Tokyo Denki University 5 Senju-Asahi-cho Adachi-ku Tokyo120-8551 Japan Graduate School of Science and Engineering Tokyo Denki University 1-1-1 Ishizaka Hatoyama-cho Hiki-gun Saitama350-0394 Japan

Domestic power situation is changing rapidly, and effective energy-saving measures in offices and homes are required. In office buildings, lighting consumes about 20% of the power consumption, and air-conditioner consumes about 45% of the power consumption. Therefore, energy-saving measures for these equipment are important. In this paper, we propose an energy-saving method for lighting and air-conditioner in office building considering person's location in the floor. The proposed method detects persons in the floor, and controls lighting equipment and air-conditioning equipment to appropriate illuminance and temperature around the persons. Thus, the proposed method increases the energy-saving effect by narrowing the controlled zone to make the room temperature and illuminance appropriately, and maintain comfort for the persons. In this study, we evaluate the energy-saving effect of lighting and air-conditioner by simulation and experiments in the real office building. © 2015 The Institute of Electrical Engineers of Japan.

关键词： Energy conservation

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Design and Control of Two Fingered Compliant Gripper for Micro Gripping

Design and Control of Two Fingered Compliant Gripper for Mic...

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International Conference on Informatics, Electronics and Vision

作者： Ritwik Chattaraj Srijan Bhattacharya Bikash Bepari Subhasis Bhaumik School of Mechatronics & Robotics Indian Institute of Engineering Science & Technology Applied Electronics & Instrumentation Engineering Department RCC Institute of Information Technology Production Engineering Department Haldia Institute of Technology

ISBN: (纸本)9781479951819

During past two decades many efforts have been made by different researchers in developing robotic grippers. Some of these grippers are robust and used for handling large objects. On the contrary, certain grippers are adroit enough even to handle biological cells. Wide varieties of grippers are now-a-days available featuring different kinematic ability, dexterity, mode of actuation, usage of sensors, maximum weight carrying capabilities and many more attributes. But they all accord to a single issue, i.e. inspiration. In recent years some compliant grippers have been developed but the crucial issue of controlling them still remains a topic of discussion. In this paper a novel design have been proposed which enables us having the force information from the gripper structure itself which in turn will contribute in controlling the gripper properly.

关键词： Ionic Polymer Metal Composite (IPMC) Electro Active Polymer (EAPs) Polydimethylsiloxane (PDMS) Data Glove Joystick Micro gripper

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