检索结果-内蒙古大学图书馆

IEEE Conference on Aerospace

作者： Ammar Husain Heather Jones Balajee Kannan Uland Wong Tiago Pimentel Sarah Tang Shreyansh Daftry Steven Huber William L. Whittaker Robotics Institute Carnegie Mellon University USA GE Global Research Center Schenectady NY USA Mechatronics Engineering University of Brasilia Brazil Mechanical and AeroSpace Engineering Princeton University USA Electronics and Communication Manipal Institute of Technology India Astrobotic Technology Inc. Pittsburgh PA USA

Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

关键词： Robot kinematics Robot sensing systems Mobile robots Planning Moon

来源：评论

学校读者我要写书评

暂无评论

Model-Driven Robot-Software Design using integrated Models and Co-Simulation

Model-Driven Robot-Software Design using integrated Models a...

引用

International Conference on Embedded Computer Systems - Architectures, Modeling and Simulation (IC-SAMOS)

作者： Broenink, Jan F. Ni, Yunyun Robotics and Mechatronics group CTIT institute faculty of Electrical Engineering Mathematics and Computer Science University of Twente The Netherlands

ISBN: (纸本)9781467322973

The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products. The behavior of the total robot system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software. Therefore, we use two appropriate Models of Computation, which represent continuous-time equations for the machine / robot part, and discrete event / discrete time equations for the control software part. To compute (simulate) such combined models, co-simulation of these models is used. The design work can be done as a stepwise refinement process, whereby each step is verified via co-simulation. This in general yields a shorter design time, and a better quality product. The tools pass model-specific information between each other via parametrized tokens in the generated, high-level code to get a better separation of design steps. This allows for better quality of the models and more reuse, thus enhancing the efficiency of model-driven design for the (industrial) end user. The method is illustrated with a case study using the tools, some of which are at the prototype level. Especially the structuring of the models and regularly doing simulations (of which some can be 'repeated' as real experiments), is beneficial, shortening the development time and producing better models. Future work is to test the method on more complex cases, and to extend the method by detailing out the electronics and mechanics sub design flows.

关键词： Robot hard real-time machine IO Robot software computer software Software design computer programs MACHINE TOOL CONTROL Robot System Microelectromechanical devices Equation discrete-time

来源：评论

学校读者我要写书评

暂无评论

Vibration Suppression Control of a Space Robot with Flexible Appendage based on Simple Dynamic Model

Vibration Suppression Control of a Space Robot with Flexible...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Daichi Hirano Yusuke Fujii Satoko Abiko Roberto Lampariello Kenji Nagaoka Kazuya Yoshida Department of Aerospace Engineering Graduate School of Engineering Tohoku University 6-6-1 Aramaki Aoba-ku Sendai 980-8579 Japan Department of Mechanical Systems and Design Graduate School of Engineering Tohoku University 6-6-1 Aramaki Aoba-ku Sendai 980-8579 Japan Institute of Robotics and Mechatronics German Aerospace Center (DLR) Germany

ISBN: (纸本)9781467363563

This paper discusses a vibration suppression control method for a space robot with a rigid manipulator and flexible appendage. A suitable dynamic model that considers the coupling between the manipulator and flexible appendage was developed for the controller to accomplish the vibration suppression control of the flexible appendage. The flexible appendage was modeled using a virtual joint model, and the control method was developed on the basis of this model. Although this type of control requires feedback of the flexible appendage state, its direct measurement is generally difficult. Thus, an estimator of the flexible appendage state was constructed using a force/torque sensor attached between the base and flexible appendage. The control method was experimentally verified using an air-floating system.

关键词： Simple Dynamic Model air-floating system control method

来源：评论

学校读者我要写书评

暂无评论

Long survival observation of C. elegans inside Environmental SEM for nanomanipulations

Long survival observation of C. elegans inside Environmental...

引用

IEEE Conference on Nanotechnology

作者： Masahiro Nakajima Naoya Nakanishi Naoki Hisamoto Masaru Takeuchi Hirotaka Tajima Michio Homma Qiang Huang Toshio Fukuda Center For Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Nagoya University Nagoya Aichi Japan Intelligem Robotics Institute Beijing Institute of Technology Faculty of Science and Engineering Meijo University Nagoya Aichi Japan

This paper presents a novel technique for long survival observation of Caenorhabditis elegans (C. elegans) inside Environmental-SEM (E-SEM) for nanomanipulations. We have developed the nanorobotic manipulation system inside an Environmental-Scanning Electron Microscope (E-SEM) integrated optical microscope (OM) for nanobiomanipulation platform. Our platform provides a real-time high resolution image under water-contained condition in nano-meter high-magnification image. One of the difficulties on the E-SEM observation is to maintain the biological sample on survival condition in long time. In this paper, we propose a coating method on the C. elegans or sample substrate for maintain the survival condition to keep in wet-condition. The proposed technique is useful to operate the nanomanipulation on C. elegans body, for example nano-injection of functional micro-nano beads as demonstrated in this paper.

关键词： Nanobioscience Optical microscopy Scanning electron microscopy Biomedical optical imaging

来源：评论

学校读者我要写书评

暂无评论

Water tank experiment for a robotic fish

Water tank experiment for a robotic fish

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Dongwon Yun Jinho Kyung Sanghyun Jeong Chanhun Park Hang Seok Choi Youngsun Ryuh Department of Robotics and Mechatronics Korea Institute of Machinery Daejeon Korea Department of Eco-Machinery Systems Korea Institute of Machinery Dacjeon Korea Department of Environmental Engineering Yonsei University Wonju Korea Biomimetic Robot Research Group Korea Institute of Industrial Technology Ansan Korea

In this paper, a water tank experiment was conducted to check the performance of a robotic fish. To view the function of a robotic fish swimming in flowing water, a circulating water tank should be used. 4 types of a caudal fin were made and used in the water tank experiment and the thrust of each case was measured and compared. Through this experiment, it can be identified swimming performance of each caudal fin.

关键词： Robots Ambient intelligence Barium

来源：评论

学校读者我要写书评

暂无评论

A Comparative Study between Causal and Non-causal Algorithms for the Energy Management of Hybrid Storage Systems

A Comparative Study between Causal and Non-causal Algorithms...

引用

European Conference on Power Electronics and Applications

作者： Claudio Pinto Ricardo de Castro Rui Esteves Araujo INESC TEC Faculty of Engineering University of Porto Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR)

ISBN: (纸本)9781479901159

This paper presents a comparative study between two non-causal algorithms for the energy management problem of electric vehicles, endowed with batteries and supercapacitors (SCs). Toward that goal, an optimization-based energy problem is formulated, which targets the minimization of the source's energy losses throughout a given driving cycle. This problem is solved, firstly, with the help of a fast (but locally optimal) non-linear programming solver;and, secondly, with a slow, but globally optimal, dynamic programming (DP) approach. Simulation results will demonstrate that, despite the different theoretical properties associated with these two solver approaches, both generate similar solutions. In the second part of the work, we will develop a filter-based energy management algorithm, i.e., employ batteries to provide the low-frequency content of the power demand, while SCs cover the high-frequency demand. Our approach builds on the idea of adapting the filter's time constant throughout the vehicle's journey, using, for that purpose, a fuzzy logic algorithm and the information of the state of the vehicle. In comparison with the traditional fixed time-constant approach, the simulation results show that under some conditions the adaptive time-constant algorithm has the potential to reduce the energy losses of the sources by up to 62%.

关键词： Optimisation Energy system management Electric vehicle Hybrid power integration Supercapacitor

来源：评论

学校读者我要写书评

暂无评论

Local interaction simulation approach for temperature effect modelling in Lamb wave propagation

Local interaction simulation approach for temperature effect...

引用

6th European Workshop on Structural Health Monitoring 2012, EWSHM 2012

作者： Kijanka, P. Paćko, P. Staszewski, W.J. Uhl, T. Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Krakow Poland

ISBN: (纸本)9783940283412

The paper explores the ability of numerical simulations for Lamb wave propagation in plates exposed to temperature fluctuations. The local interaction simulation approach is used for wave propagation modelling. The newly developed parallel computation technology - offered by modern Graphics Processing Units (GPUs) and Compute Unified Device Architecture (CUDA) used in low-cost graphical cards - is used in these numerical simulations. This allows for very efficient wave propagation simulation for various temperatures. Numerical simulation results can be used more effectively to develop new signal processing techniques to compensate for temperature effects.

关键词： Temperature

来源：评论

学校读者我要写书评

暂无评论

Application of vibrothermography in nondestructive testing of structures

Application of vibrothermography in nondestructive testing o...

引用

6th European Workshop on Structural Health Monitoring 2012, EWSHM 2012

作者： Szwedo, M. Pieczonka, L. Uhl, T. Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. A. Mickiewicza 30 30-059 Krakow Poland

ISBN: (纸本)9783940283412

Vibrothermography is a nondestructive testing method that monitors heat produced by damage under vibration and/or ultrasonic excitation in order to evaluate the structural health. The paper investigates practical aspects of vibrothermographic testing of structures. Measurements in two typical application areas of vibrothermography are presented and discussed. The examples are weld test specimens and a military aircraft fuselage skin. Measurements have been performed with use of an in-house vibrothermographic testing system. In case of welded specimens a series of carbon steel test samples with different flaw types have been investigated. In case of aircraft testing, field measurements have been performed on a wing and fuselage sections in order to assess the structural integrity. The paper discusses practical aspects related to field measurements with use of vibrothermography and presents thermal image processing techniques which allow to obtain the best flaw detection results. Applied image processing techniques allow increasing the quality and readability of the results coming from field measurements with low thermal response from the structure. The paper is concluded with a discussion on applications of vibrothermographic testing in Structural Health Monitoring applications.

关键词： Nondestructive examination

来源：评论

学校读者我要写书评

暂无评论

Lifting platform in jack-up offshore platform based on virtual prototyping

Lifting platform in jack-up offshore platform based on virtu...

引用

2012 International Applied Mechanics, mechatronicsAutomation and System Simulation Meeting, AMMASS 2012

作者： Bin, He Tao, Cao Jin Lin, He Xiao Xiang, Jin Zhi Lun, Fang Ming Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China

This paper put forward a systematic design method based on virtual prototyping technology to simulate lifting platform of jacking system in jack-up offshore platform. After the main parameters of lifting platform in jack-up offshore platform were introduced, the 800T offshore platform modeling techniques were put forward, such as rigid body modeling techniques, flexible body modeling techniques, modal analysis techniques and kinematics analysis. The dynamics analysis was present with the simulation results, which demonstrates that this method is obviously helpful to get more accurate simulation results to verify the rationality of lifting platform in jack-up offshore platform. © (2012) Trans Tech Publications, Switzerland.

关键词： Drilling platforms

来源：评论

学校读者我要写书评

暂无评论

The effect of scale in tribological testing

引用

Journal of Materials Research and Technology 2012年第1期1卷 13-20页

作者： Rymuza, Zygmunt Pytko, Stanislaw Department of Mechatronics Institute of Micromechanics and Photonics Warsaw University of Technology Warsaw Poland Department of Mechanical Engineering and Robotics Division of Design and Exploitation of Machines AGH University of Science and Technology Cracow Poland

The tribological problems, which have to be taken into consideration in micromachines, micromechanisms, Micro Electro Mechanical Systems (MEMS) devices, and components such as silicon micromotors, toothed gears, gas turbines etc., are discussed in this study. In such systems, entirely different problems appear when compared with tribological problems in macroscale machines. It was proved that the values of friction parameters in the devices where the contact area is some milimeters square cannot be applied to the situation when the realistic contact area is only a few micro or nanometers square. © 2012 Elsevier Editora Ltda. and Brazilian Metallurgical, Materials and Mining Association.

关键词： Friction

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：