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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Islam S. M. Khalil Kareem Youakim Alonso Sanchez Sarthak Misra Faculty of Engineering and Material Science (EMS) the German University in Cairo New Cairo City Egypt MIRA-Institute for Biomedical Technology and Technical Medicine (Robotics and Mechatronics Group) University of Twente Enschede The Netherlands

ISBN: (纸本)9781479969357

We experimentally demonstrate that using oscillating weak magnetic fields a sperm-shaped microrobot (which we refer to as MagnetoSperm) can swim using flagellar propulsion and slide on a surface under water. The sperm morphology allows the MagnetoSperm to mimic the locomotion mechanism of a living sperm cell. The MagnetoSperm is designed and developed with a magnetic head and a flexible tail to provide a magnetic dipole moment and propulsion, respectively. The head oscillates under the influence of controlled oscillating weak magnetic fields (～5 mT). This oscillation generates a thrust force in the flexible tail, and hence allows the MagnetoSperm to overcome the drag and friction forces during swimming and sliding on a surface, respectively. Point-to-point open- and closed-loop control of the MagnetoSperm are accomplished using an electromagnetic system under microscopic guidance. This motion control is done in two cases, i.e., swimming in water and sliding on a surface. At oscillating magnetic field of 5 Hz and 45 Hz, the MagnetoSperm swims at an average swimming speed of 32 μm/s (0.1 body lengths per second) and 158 μm/s (0.5 body lengths per second), respectively. At the same frequencies, the MagnetoSperm slides on the bottom of a petri-dish at an average speed of 21 μm/s (0.07 body lengths per second) and 6 μm/s (0.02 body lengths per second), respectively.

关键词： Motor Control Body Height Microbots Swimming electromagnetic system Magnetic heads oscillating magnetic field Spermatozoa Average speed field weakening sperm morphology control ring Propulsion

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Adaptation and Learning over Complex Networks

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IEEE SIGNAL PROCESSING MAGAZINE 2013年第3期30卷 14-15页

作者： Sayed, Ali H. Barbarossa, Sergio Theodoridis, Sergios Yamada, Isao Institute of Robotics and Automatic Information System Nankai University Tianjin China Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Research Laboratory Monash University Clayton VIC Australia School of Mechanical Engineering Tianjin University Tianjin China

The topic of this special issue deals with a subject matter that has been receiving immense attention from various research communities, and not only within the signal processing community. Discusses research and development in the area of the adaption and learning over complex network systems. Extensive research efforts on information processing over graphs exist within other fields such as statistics, computer science, optimization, control, economics, machine learning, biological sciences, and social sciences. Different fields tend to emphasize different aspects and challenges; nevertheless, opportunities for mutual cooperation are abundantly clear, and the role that signal processing plays in this domain is of fundamental importance.

关键词： Special issues and sections Complex networks Learning systems Adaptation models Economics Social network services

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Needle steering in biological tissue using ultrasound-based online curvature estimation

Needle steering in biological tissue using ultrasound-based ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Pedro Moreira Sachin Patil Ron Alterovitz Sarthak Misra Technical Medicine (Robotics and Mechatronics) University of Twente The Netherlands Department of Electrical Engineering and Computer Sciences University of California at Berkeley USA Department of Computer Science University of North Carolina at Chapel Hill USA

Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes. Accurate placement of the needle tip is important to the success of many needle procedures. The current needle steering systems depend on needle-tissue-specific data, such as maximum curvature, that is unavailable prior to an interventional procedure. In this paper, we present a novel three-dimensional adaptive steering method for flexible bevel-tipped needles that is capable of performing accurate tip placement without previous knowledge about needle curvature. The method steers the needle by integrating duty-cycled needle steering, online curvature estimation, ultrasound-based needle tracking, and sampling-based motion planning. The needle curvature estimation is performed online and used to adapt the path and duty cycling. We evaluated the method using experiments in a homogenous gelatin phantom, a two-layer gelatin phantom, and a biological tissue phantom composed of a gelatin layer and in vitro chicken tissue. In all experiments, virtual obstacles and targets move in order to represent the disturbances that might occur due to tissue deformation and physiological processes. The average targeting error using our new adaptive method is 40% lower than using the conventional non-adaptive duty-cycled needle steering method.

关键词： Needles Phantoms Biological tissues Ultrasonic imaging Estimation Target tracking

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Technical trend of mobile robot according to kinematic classification

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Journal of Institute of Control, robotics and Systems 2013年第11期19卷 1043-1047页

作者： Jeong, Chan Se Park, Kyoung Taik Yang, Soon Yong School of Mechanical Engineering University of Ulsan Korea Republic of Department of Robotics and Mechatronics Korea Institute of Machinery and Materials Korea Republic of

Smart mobile robot is a kind of Intelligent Robot. It means that operates manipulate autonomously and recognize the external environment. Smart mobile robot moving mechanism has many type and the type depend on the robot shape or purpose. Recently, research on the moving mechanism has been actively in many area. The moving mechanism divided to wheel type, crawler type, walking type, other type and the moving type choose by the kind of robot or the purpose robot. In this paper, describe the kind of moving mechanism on the smart mobile robot and the technical trend of moving mechanism of smart mobile robot. © ICROS 2013.

关键词： Mobile robots

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Simultaneous control for end-point motion and vibration suppression of a space robot based on simple dynamic model

Simultaneous control for end-point motion and vibration supp...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Daichi Hirano Yusuke Fujii Satoko Abiko Roberto Lampariello Kenji Nagaoka Kazuya Yoshida Department of Aerospace Engineering Tohoku University Aoba-ku Sendai Japan Department of Mechanical Systems and Design Tohoku University Aoba-ku Sendai Japan Institute of Robotics and Mechatronics German Aerospace Center (DLR) Germany

This paper addresses a dynamic model and a control method of a space robot with a rigid manipulator and a flexible appendage. The control method has been developed for performing multiple tasks: end-point motion control and vibration suppression control of a flexible appendage. A simple dynamic model that considers coupling between the manipulator and the flexible appendage is proposed for the control method. The tasks are performed simultaneously on the basis of their order of priorities using a redundant manipulator. Additionally, because vibration suppression requires feedback of the state of the flexible appendage, a state estimator of the appendage using a force/torque sensor is developed. Finally, the proposed model, control method, and state estimator were verified experimentally using an air-floating system.

关键词： Joints Vibrations Manipulator dynamics Robot sensing systems Torque

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Design of an optimized sliding mode control for loaded double inverted pendulum with mismatched uncertainties

Design of an optimized sliding mode control for loaded doubl...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Manar Lashin Ahmed Ramadan Hossam S. Abbass Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Egypt Computers and Automatic Control Dept. Tanta University Tanta Egypt Electrical Engineering Dept. Assuit University Assuit Egypt

In this paper, the stabilization problem of loaded double inverted pendulum using an optimized state feedback sliding mode control is investigated. ADAMS/Matlab co-simulation environment is used for building a virtual nonlinear model for loaded double inverted pendulum system and the state feedback sliding mode control law is designed for stabilizing the system. Mismatched uncertainties represented by payload variations is considered. Genetic Algorithms are used to optimize the parameters of the sliding mode controller based on a performance index containing the sum of squared errors. The proposed control scheme can significantly suppress chattering effect and improves the performance of the system against uncertainties. Simulation results show the effectiveness of the approach and the robustness of the system against payload changes.

关键词： Mathematical model Payloads Uncertainty MATLAB Robustness Optimization Vectors

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New Anti stealth technology for safe piloting of the unmanned aerial vehicle

New Anti stealth technology for safe piloting of the unmanne...

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IEEE International Conference on mechatronics and Automation

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Minia University El Minia El Minia Egypt Electrical Engineering Department Minia University El Minia El Minia Egypt Electrical Engineering Department Aswan University Aswan Egypt Production Engineering and Design Department Minia University El Minia El Minia Egypt

This research handles a proposed technology in the defense and security system is Anti stealth technology, This technology supposes increasing radar cross section (RCS) of the stealth system by increasing relative permittivity ε' and decreasing attenuation ε" consequently loss tangent tan(δ e ). Non lethal pulsed ND YAG 532nm laser is the proposed solution for enhancing stealth EM 3500 wave absorber's relative permittivity. This research handles a probabilistic Algorithm for detecting stealth target by using neural network as future implementation for Anti stealth technology.

关键词： Laser beams Materials Permittivity Aircraft Radar Masers Laser applications

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Passive Upper Limb Assessment Device

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Procedia Computer Science 2014年 42卷 287-292页

作者： H.A. Rahman K.X. Khor L.S. Sim C.F. Yeong E.L.M. Su Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Malaysian-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malayisa Centre of Artificial Intelligence and Robotics (CAIRO) Unversiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Department of Electronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

Stroke is the leading cause of disability. Reaching movement is the most important movement for many daily activities routine. Rehabilitation is to encourage and enhanced recovery process. Conventional rehabilitation is one-to-one intervention where labour intensive and lack of repeatability. In addition, the stroke assessments by physiotherapist are subjective and not independent. Thus, this paper will describe the design and development of non-motorized system for assessing the patients’ motor function. This system will be used in the future to find the correlation between conventional assessments scales such Fugl-Mayer Assessment (FMA), Chedoke-McMaster Stroke Assessment Scale (CMSA) and Motor Assessment Scale (MAS) and robotic assessment.

关键词： Stroke assessment scale robotic upper limb rehabilitation.

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Multi-Objective Control of Balancing Systems for Li-Ion Battery Packs: A Paradigm Shift?

Multi-Objective Control of Balancing Systems for Li-Ion Batt...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Jorge V. Barreras Claudio Pinto Ricardo de Castro Erik Schaltz Soren J. Andreasen Rui Esteves Araujo Department of Energy Technology Aalborg University Aalborg Denmark INESC TEC (formerly INESC Porto) and Faculty of Engineering University of Porto Porto Portugal Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling Germany

While a great number of battery balancing circuit topologies have been proposed, the unique control objective typically pursued is equalization of single cell charge. However, a balancing circuit could offer potentially more control features, especially with topologies able to provide bidirectional power flow control. This has not been explored yet in literature or at least not with enough thoroughness. Thus, in addition to charge balancing, up to three more objectives could be pursued simultaneously. Firstly, virtual resistance control, in order to provide dynamic compensation for variations in terminal cell voltage. Secondly, thermal management, to achieve a more uniform temperature distribution within a battery pack. Third, on-board diagnosis or fault detection tools, e.g. to perform characterization tests or to identify and even isolate problematic cells. In this paper, this issue is discussed and evaluated for a battery pack made up of 48 large format Li-Ion cells in series in a e-mobility application. Simulation results demonstrate the technical feasibility of this newly defined concept.

关键词： Batteries System-on-chip Integrated circuit modeling Mathematical model Control systems Voltage control Fault detection

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A Novel Hybrid Rehabilitation Robot for Upper and Lower Limbs Rehabilitation Training

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Procedia Computer Science 2014年 42卷 293-300页

作者： K.X. Khor H.A. Rahman S.K. Fu L.S. Sim C.F. Yeong E.L.M. Su Malaysian-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malayisa Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Centre of Artificial Intelligence and Robotics (CAIRO) Unversiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Department of Electronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

Stroke is the leading cause of severe disability worldwide, with up to 15 million of people suffer stroke every year. Survivors of stroke can recover their physical strength, provided they undergo proper rehabilitation. However, most of the rehabilitation centres provide only basic tools as they can rarely afford the expensive and advanced rehabilitation devices. Besides that, training with therapists is limited to few hours per week due to the large number of patients and the stroke patients are generally sent home once they are mobile, although their upper limbs functions are not recovered. Stroke patients need to continue training after stroke to avoid muscle contraction, but due to large number of patients, they are not able to train frequently in the hospital. Therefore, the goal of this project is to develop a low-cost, simple yet compact rehabilitation robot for stroke patient to train both upper and lower limbs reaching movement. Compact Rehabilitation Robot (CR2) is expected to help the stroke patients training reaching movement in an enhanced virtual reality environment with haptic feedback and to provide the stroke patients with a faster track towards recovery.

关键词： Rehabilitation robot stroke propotional control biomechanics

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