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

作者： Mohsen Moradi Dalvand Bijan Shirinzadeh Saeid Nahavandi Centre for Intelligent Systems Research (CISR) Deakin University VIC Australia Robotics and Mechatronics Research Laboratory (RMRL) Department of Mechanical & Aerospace Engineering Monash University Melbourne Australia

This paper presents a solution to the inverse kinematics of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration. The inverse kinematics solution of such parallel robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configuration is more complex due to the existence of RR-joint variables. A novel methodology is established to define 6 independent variables of the actuators and 12 dependent RR-joint variables using the pose of the mobile platform with respect to the base frame. The constraint of RR-joints are analysed and the numerical algorithm to obtain joint variables is assessed. The forward kinematics of a 6- RRCRR parallel manipulator is modelled and computational analysis is performed in order to numerically verify the accuracy and effectiveness of the proposed methodology for the inverse kinematics analysis. Numerical results of a trajectory tracking simulation are provided. The results verify high accuracy for the proposed inverse kinematics solution of this special family of parallel micromanipulators.

关键词： Kinematics Manipulators Joints Mobile communication Actuators Parallel robots

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Modeling and Control of a Novel Hybrid Ground Aerial Robot

Modeling and Control of a Novel Hybrid Ground Aerial Robot

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IEEE International Conference on mechatronics and Automation

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Adjunct Professor at Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology. Prod. Eng. & Mechanical Design Dept. Mansoura University Mansoura Egypt. Adjunct Professor at Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology. Computers Engineering & Automatic Control Dept. Tanta University Tanta Egypt.

ISBN: (纸本)9781467355599

This paper presents the dynamic modeling and control simulation of a novel robot that combines flying motion and on ground motion into an integrated single robot. The ground motion is based on four wheels configuration that provides more stability. The flying motion is depending on the flying mechanism of quadrotor system. Smart transformation mechanism is developed to switch the robot from the ground motion configuration to the flying motion configuration and vice versa without adding any additional actuators. A manipulator with 3 DOF is added to handle an object during the ground motion and it is useful to hold this object during the flying motion. A CAD model is developed using SOLIDWORKS. The dynamic model of this robot is derived to achieve the eccentricity of the payload, the weight of the eccentric manipulator and managing the variation of the payload in the dynamic model. The derived robot dynamics are highly nonlinear. A controller is designed based on feedback linearization technique to stabilize the robot attitude and altitude. Controlling the horizontal movements' nonholonomic constraints is used to generate the desired trajectories of robot attitudes. Another dynamic model and controller have been established for the transformation mechanism. Finally, the simulation results using MATLAB/SIMULINK show that the controller successfully vanish the eccentric effect and stabilize the robot attitude.

关键词： Flying robot Dynamic Modeling of UA V Feedback Linearization technique Controller design

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Cross-cultural study on human-robot greeting interaction: Acceptance and discomfort by Egyptians and Japanese

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Paladyn 2013年第2期4卷 83-93页

作者： Trovato, Gabriele Zecca, Massimiliano Sessa, Salvatore Jamone, Lorenzo Ham, Jaap Hashimoto, Kenji Takanishi, Atsuo Graduate School of Science and Engineering Waseda University #41-304 17 Kikui-cho Shinjuku-ku Tokyo162-0044 Japan Faculty of Science and Engineering Waseda University Humanoid Robotics Institute Waseda University Japan School of Innovative Design Engineering Mechatronics and Robotic Dept. Egypt-Japan University of Science and Technology Borg El Arab Alexandria21934 Egypt Instituto de Sistemas e Robotica Instituto Superior Tecnico Av. Rovisco Pais 1 Lisbon1049-001 Portugal Department of Innovation Sciences Eindhoven University of Technology P.O. Box 513 5600 MB IPO 1.20 Eindhoven Netherlands Faculty of Science and Engineering Waseda University Japan Waseda University Japan

As witnessed in several behavioural studies, a complex relationship exists between people's cultural background and their general acceptance towards robots. However, very few studies have investigated whether a robot's original language and gesture based on certain culture have an impact on the people of the different cultures. The purpose of this work is to provide experimental evidence which supports the idea that humans may accept more easily a robot that can adapt to their specific culture. Indeed, improving acceptance and reducing discomfort is fundamental for future deployment of robots as assistive, health-care or companion devices into a society. We conducted a Human-Robot Interaction experiment both in Egypt and in Japan. Human subjects were engaged in a simulated video conference with robots that were greeting and speaking either in Arabic or in Japanese. The subjects completed a questionnaire assessing their preferences and their emotional state, while their spontaneous reactions were recorded in different ways. The results suggest that Egyptians prefer the Arabic robot, while they feel a sense of discomfort when interacting with the Japanese robot;the opposite is also true for the Japanese. These findings confirm the importance of the localisation of a robot in order to improve human acceptance during social human-robot interaction. © 2018 De Gruyter Open Ltd. All rights reserved.

关键词： Human robot interaction

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Simulation of Graphene Piezoresistivity Based on Density Functional Calculations

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Modeling and Numerical Simulation of Material Science 2013年第4期3卷 117-123页

作者： Mohammed Gamil Koichi Nakamura Ahmed M. R. Fath El-Bab Osamu Tabata Ahmed Abd El-Moneim Center for the Promotion of Interdisciplinary Education and Research Kyoto University Kyoto Japan Department of Micro Engineering Kyoto University Kyoto Japan Materials Science and Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Mechatronics and Robotics Department Egypt-Japan University of Science and Technology Alexandria Egypt

The piezoresistive effect in graphene ribbon has been simulated based on the first-principles electronic-state calculation for the development of novel piezoresistive materials with special performances such as high flexibility and low fabrication cost. We modified theoretical approach for piezoresistivity simulation from our original method for semiconductor systems to improved procedure applicable to conductor systems. The variations of carrier conductivity due to strain along with the graphene ribbon models (armchair model and zigzag model) have been calculated using band carrier densities and their corresponding effective masses derived from the one-dimensional electronic band diagram. We found that the armchair-type graphene nano-ribbon models have low conductivity with heavy effective mass. This is a totally different conductivity from two-dimensional graphene sheet. The variation of band energy diagrams of the zigzag-type graphene nano-ribbon models due to strain is much more sensitive than that of the armchair models. As a result, the longitudinal and transverse gauge factors are high in our calculation, and in particular, the zigzag-type graphene ribbon has an enormous potential material with high piezoresistivity. So, it will be one of the most important candidates that can be used as a high-performance piezoresistive material for fabricating a new high sensitive strain gauge sensor.

关键词： Graphene Ribbon Piezoresitivity First-Principles Calculation Gauge Factor

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Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing

Kinesthetic teaching of humanoid motion based on whole-body ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Christian Ott Bernd Henze Dongheui Lee Institute of Robotics and Mechatronics German Aerospace Center (DLR e.V.) 82234 Wessling Germany Department of Electrical Engineering and Information Technology Technical University of Munich (TUM) 80333 Munich Germany

ISBN: (纸本)9781467363563

In this work we present a framework for kinesthetic teaching and iterative refinement of whole body motions. For detection of external forces we apply a momentum based disturbance observer known from manipulator control to the floating-base model of a humanoid robot. These external forces are used as a trigger for implementing a compliant behavior at the interaction point and are integrated into a predictive balancing algorithm. For representation of the motion data, a hidden Markov model is used, which allows for an iterative update of the discrete motion states as well as a smooth generation of continuous motion data. Finally, we present an application of these algorithms on the humanoid robot TORO.

关键词： floating-base TORO humanoid Humanoid compliance control Humanoid robots disturbance observer Hidden Markov models Pedagogy Teaching

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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Improved Backtracking Algorithm for Efficient Sensor-based Random Tree Exploration

Improved Backtracking Algorithm for Efficient Sensor-based R...

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International Conference on Computational Intelligence, Communication Systems and Networks

作者： Haitham El-Hussieny Samy F. M. Assal Mohamed Abdellatif Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University for Science and Technology

ISBN: (纸本)9781479905874

Mobile robots need to explore novel environments to build useful maps for later navigation and motion planning. Sensor-based Random Tree, (SRT), technique had been used for exploration but it is problematic since the robot may visit the same place more than one time during backtracking process. In this paper, we propose a new heuristic algorithm to reduce this backtracking problem using the obtained map data. This algorithm is tested through computer simulations for several scenarios. The performance is evaluated in terms of exploration time, travelled distance and number of visited nodes. Since these classical evaluation metrics are correlated, we propose a new evaluation metric, that combines the total performance. The new algorithm is confirmed to reduce the exploration time of up to 30%. The new evaluation metric is also shown to encapsulate the exploration performance and can be regarded as a much better representative of the performance that facilitate comparisons.

关键词： Exploration back tracking algorithm Heuristic algorithms Mobile robots Backtracking Metronidazole Computer Simulation problematic Robot

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Adaptive Intelligent Controller Design for a New Quadrotor Manipulation System

Adaptive Intelligent Controller Design for a New Quadrotor M...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Department of Production Engineering and Mechanical Design Mansoura University Mansoura Egypt Department of Computer and Automatic Control Tanta University

ISBN: (纸本)9781479906505

This paper presents the design of two controllers namely, Direct Fuzzy Logic controller and Fuzzy Model Reference Learning Control applied to a new aerial manipulation system called "Quadrotor-Manipulator System". This system consists of 2-link manipulator connected to the bottom of a quadrotor. The dynamic model of this system is derived taking into account the effect of adding a payload to the manipulator. The performance of the proposed controllers are compared with that of the previously developed controller based on Feedback Linearization technique. All controllers are tested regarding their ability to stabilize the system and track desired trajectories under the effects of picking and placing a payload as well as changing the system operating region. Finally, the system equations of motion and the control laws are simulated using MATLAB/SIMULINK. The simulation results indicate the outstanding performance of the Fuzzy Model Reference Learning Control.

关键词： Aerial manipulation Quadrotor-Manipulator 2link manipulator Feedback linearization Demining devices Fuzzy logic control Fuzzy model reference learning control Fuzzy control Controllers Equations of motion intelligent controller controller design fuzzy logic controller learning control fuzzy modeling Payload Picking control law

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A carbon nanotube vibration gyroscope based on field emission

A carbon nanotube vibration gyroscope based on field emissio...

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IEEE Conference on Nanotechnology

作者： Zhan Yang Masahiro Nakajima Yajing Shen Tao Yue Sun Lining Qiang Huang Toshio Fukuda Department of Micro-nano System Engineering Soochow University Suzhou China Center of Micro-nano Mechatronics Nagoya University Nagoya Japan Department of Micro-nano System Engineering Nagoya University Nagoya Japan Department of Micro-nano System Engineering Nagoya University Japan Robotics and Microsystems Center Soochow University Suzhou China Intelligent Robotics Institute Beijing Institute of Technology Beijing China

A gyroscope based on Coriolis effect and fabricated by Carbon Nanotube (CNT) was presented. The gyroscope was designed A CNT is vibration at x direction, when there a rotation around z direction, acceleration happens to the y direction. The natural frequency of MWCNT is depending on the inner diameter, outer diameter and length. The CNT was driven by the electrostatic force to its nature frequency. A CNT with a length of 1 μm was used for emitter and an anode with a bias angle is etched by Focused Ion Beam (FIB) which is set to the opposite to the CNT. An electrode is set near the CNT tip, which is employed to pulling the CNT for mechanical resonances by an AC voltage. The CNT with a resonate frequency of 1 MHz and mechanical quality factor Q of ~400 was tested at rotation speed of 20 rad.s.

关键词： Gyroscopes Anodes Mathematical model Vibrations Force Resonant frequency

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A HIERARCHICAL REINFORCEMENT LEARNING-BASED APPROACH TO MULTI-ROBOT COOPERATION FOR TARGET SEARCHING IN UNKNOWN ENVIRONMENTS

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CONTROL AND INTELLIGENT SYSTEMS 2013年第4期41卷 1-1页

作者： Cai, Yifan Yang, Simon X. Xu, Xin Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ON N1G 2W1 Canada College of Mechatronics and Automation National University of Defense Technology Changsha Hunan Province 410073 China

Effective cooperation of multi-robots in unknown environments is essential in many robotic applications, such as environment exploration and target searching. In this paper, a MAXQ and Option combined hierarchical reinforcement learning approach, together with a multi-agent cooperation strategy, are proposed for the real-time cooperation of multi-robots in completely unknown environments. Unlike other algorithms that need an explicit environment model or selected parameters by trial and error, the proposed cooperation method obtains all the required parameters automatically through learning. By integrating segmental options with the MAXQ algorithm, a multi-agent cooperation strategy is designed. In new tasks, the designed cooperation method can control the multi-robot system to complete the task effectively. The simulation results demonstrate that the proposed scheme is able to effectively and efficiently guide a team of robots to cooperatively accomplish target searching tasks in completely unknown environments.

关键词： Hierarchical reinforcement learning multi-robot cooperation com-pletely unknown environment target searching

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