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

作者： Ahmad Athif M. Faudzi M. Rusydi. M. Razif Ili Najaa Aimi M. Nordin K. Suzumori S. Wakimoto D. Hirooka Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

ISBN: (纸本)9781467325752

In recent years, many researchers have been focusing on the different novel techniques in designing pneumatic soft actuator that can produce bending motion. This paper presents a novel soft actuator design; a combination of different braided angles of artificial muscle applied on a single chamber soft actuator to produce bending motion. The actuator construction is based on the theory of contraction and extension of artificial muscle. It comprises of fiber-reinforced inside silicone rubber and is capable to create one-sided bending motion. Analysis of nonlinear finite element method is conducted to predict the direction and bending angles of the actuator before a prototype of actuator is fabricated. Based on the results, the developed soft actuator can realize bending motion after standard pressure driving experiment is executed.

关键词： Actuators Atmospheric modeling Rubber Muscles Finite element methods Robots Fabrication

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Using mobile robots for a clean and safe environment — A difficult challenge

Using mobile robots for a clean and safe environment — A di...

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International Conference and Exposition on Electrical and Power engineering (EPE)

作者： Ioan Doroftei Yvan Baudoin Mechanical Engineering Mechatronics and Robotics Dep. Gheorghe Asachi Technical University of Iasi Iasi Romania Mechanical Engineering Department Royal Military Academy of Brussels Brussels Belgium

When the war is finished, the unexploded mines continue to kill or injure individuals, most of them civilians. These mines represent a particularly acute problem in developing countries, problem that has become a very serious international issue, with many people striving to find a solution. This paper will discuss the use of robotic systems for humanitarian demining purposes.

关键词： Legged locomotion Robot sensing systems Layout Robot kinematics Wheels

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Closed-loop stability and performance optimization in LPV control based on a reduced parameter set

Closed-loop stability and performance optimization in LPV co...

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IEEE Conference on Decision and Control

作者： C. Hoffmann S. M. Hashemi H. S. Abbas H. Werner Institute of Control Systems Hamburg University of Technology Hamburg Germany Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (纸本)9781467320658

A difficulty encountered in applying linear parameter-varying (LPV) control is the complexity of synthesis and implementation for large numbers of scheduling parameters. Often, heuristic solutions involve neglecting individual scheduling parameters, such that LPV controller synthesis methods become applicable. However, stability and performance guarantees are rendered void, if a controller design based on an approximate model is implemented on the original plant. In this paper, a posteriori conditions are proposed to assess closed-loop stability and performance and possibly recover guarantees. The controller - synthesized based on a reduced parameter set - is first transformed back to depend on the original parameters. Then analysis is performed with respect to the original plant model, which is considered to be accurate. Moreover, an iterative approach for optimizing controllers with few scheduling parameters is sketched. A two-degrees-of-freedom (2-DOF) robotic manipulator is considered as an illustrative example. Experimental results indicate a significant increase in performance.

关键词： Stability analysis Vectors Optimization Robots Linear matrix inequalities Scheduling Approximation methods

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Computational techniques for classification of military vehicles using seismic signatures

Computational techniques for classification of military vehi...

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International Conference on Computing and Networking Technology (ICCNT)

作者： Pratik Chakraborty Satish Kumar Ripul Ghosh Aparna Akula H.K. Sardana School of Mechatronics and Robotics Bengal Engineering and Science University Howrah India Computational Instrumentation Central Scientific Instruments Organization (CSIR-CSIO) Chandigarh India

ISBN: (纸本)9781467356930

In this research work a seismic classification system is designed to distinguish between tracked and wheeled vehicle classes. Owing to the extreme non-stationary nature of seismic signals, choosing robust features is an important aspect for the purpose of classification. To obtain a varied feature set different signal processing techniques namely Fast Fourier Transform (FFT), Walsh-Hadamard Transform (WHT), Hilbert-Huang Transform (HHT) and Wavelet Transform (WT) are investigated. Dominant features are identified from the feature bank using Principal Component Analysis (PCA). This choice of optimal and robust features leads to a better class discrimination. It is observed that the classification results obtained by the varied feature set followed by optimization has improved classification accuracy of 95% than using features extracted from individual signal processing techniques.

关键词： Feature extraction Vehicles Transforms Principal component analysis Neural networks Instruments Signal processing

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Multivariate analysis of gene expression data and missing value imputation based on llsimpute algorithm

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ICIC Express Letters 2012年第5期6卷 1335-1339页

作者： Moorthy, Kohbalan Mohamad, Mohd Saberi Deris, Safaai Ibrahim, Zuwairie Artificial Intelligence and Bioinformatics Research Group Faculty of Computer Science and Information Systems 81310 UTM Skudai Johor Malaysia Department of Mechatronics and Robotics Center of Artificial Intelligence and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia

Microarray ade4 or known as MADE4 is a multivariate software analysis package for microarray gene expression data. This software package is capable of accepting wide variety of gene expression data formats such as Bioconductor Affy Batch and exprSet. This MADE4 R package extends the advantages of ade4 package in multivariate statistical and graphical functions for the use in the microarray data application. Moreover, MADE4 provides new graphical and visualization tools that assist in the interpretation of multivariate analysis of microarray data. Besides that, LLSimpute algorithm has been incorporated to assist in handling of datasets with missing values and this has eased the application for the users to analysis on gene expression data that contain missing values.

关键词： Autocorrelation

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TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness

TeleImpedance: Exploring the role of common-mode and configu...

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IEEE-RAS International Conference on Humanoid Robots

作者： A. Ajoudani M. Gabiccini N. Tsagarakis A. Albu-Schäffer A. Bicchi Faculty of Engineering University of Pisa Department of Mechanical University of Pisa Dept. of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

Humans explore and adapt neuro-motor strategies to cope with limitations of multi-joint impedance regulation mechanism. For instance, predictive control of degrees of redundancy further regulates the endpoint impedance in addition to co-contractions. Inspired by these observations, this paper proposes a novel Tele-Impedance algorithm that replicates the human's arm endpoint stiffness in robot by controlling the common-mode and configuration-dependant stiffness. Design of the controller and its stability is addressed and experimentally evaluated in robotic peg-in-hole task. Results of the proposed method are compared to the ones derived from Tele-Impedance implemented using classical Cartesian stiffness control. The interaction performance achieved highlights the possibility of adopting common mode stiffness in robots with adequate degrees of redundancy, in order to realize the desired task space impedance.

关键词： Logic gates

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High Speed On-Line Motion Planning in Cluttered Environments

High Speed On-Line Motion Planning in Cluttered Environments

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Zvi Shiller Sanjeev Sharma Department of Mechanical Engineering and Mechatronics Ariel University Center of Samaria Israel visiting scholar at the Paslin Laboratory for Robotics Autonomous Vehicles at the Ariel University Center Israel

ISBN: (纸本)9781467317375

This paper presents an efficient algorithm for online obstacle avoidance that accounts for robot dynamics and actuator constraints. The robot trajectory (path and speed) is generated on-line by avoiding obstacles optimally one at a time. This reduces the original problem from one with m obstacles to m simpler problems with one obstacle each, thus resulting in a planner that is linear, instead of exponential, in the number of obstacles. While this approach is quite general and applicable to any cost function and to any robot dynamics, it is treated here for minimum time motions, a point mass robot, and planar circular obstacles.

关键词： Cluttered Environments actuator constraints planar circular

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Modeling of the synchronization of cutaneous mechanoreceptors with Epidermal-dermal dynamics

Modeling of the synchronization of cutaneous mechanoreceptor...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： Ryota Ishibashi Tadao Isaka Hiroe Hashiguchi Sadao Kawamura Division of Human Mechatronics Systems Faculty of System Design Tokyo Metropolitan University Faculty of Sport and Health Science Ritsumeikan University School of Robotics Department of Integrated Mechanical Engineering Daido University Department of Robotics Ritsumeikan University

ISBN: (纸本)9781467317139

This paper examined the effects of the nonlinear mechanical properties that originate in the subcutaneous geometric structure and the subcutaneous mechanoreceptors of the fingertip. We briefly analyzed nonlinear biomeehanical properties of the cutaneous surface and showed that the subcutaneous mechanoreceptors affect tactile perception as nonlinear transducers. The validity of our hypothesis was assessed by experimentally investigating the vibrotactile sensation of a fingertip.

关键词： Vibrotactile sensation Synchronization Cutaneous mechanoreceptors Epidermal-dermal dynamics Mechanoreceptors Touch Perceptions Modeling Mechanical properties nonlinearity geometrical construction

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Modeling the Rotational Paddling of an ePaddle-Based Amphibious Robot

Modeling the Rotational Paddling of an ePaddle-Based Amphibi...

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Yi Sun Shugen Ma Kazuhiro Fujita Yang Yang Huayan Pu Department of Robotics Ritsumeikan University 525-8577 Shiga Japan School of Mechatronics Engineering and Automation Shanghai University 149 Yanchang Road Shanghai China.

ISBN: (纸本)9781467317375

To enhance the mobility of amphibious robots for multi-terrains tasks, we have proposed an eccentric paddle locomotion mechanism (ePaddle) with several feasible terrestrial and aquatic gaits. In this paper, we present a rigid paddle model for predicting the thrust force in one of the aquatic gaits, namely the rotational paddling gait. Thrust forces calculated by this model demonstrate the idea that by relocating the paddle shaft eccentrically from its wheel center, the rotating paddles will generate vectored thrust force for swimming. The paddling motion and the validity of the rigid paddle model are verified by experiments in a water tank.

关键词： Rotational Paddling ePaddle-Based Amphibious Robot aquatic gaits thrust Blades water-tanks Gait Robot rotating cascade Wheels Rotational Locomotion

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Detection of knocking in Spark Ignition (SI) engines using CMAC neural networks

Detection of knocking in Spark Ignition (SI) engines using C...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Khurram Kamal Mohammad Farid Senthan Mathavan Department of Mechatronics and Robotics Universiti Teknologi Malaysia Johor Malaysia Department of Automotive Engineering Universiti Teknologi Malaysia Johor Malaysia ASML Netherlands BV Eindhoven the Netherlands

Knocking in SI (Spark Ignition) engines is one of the most addressable problems. If not detected in early stages, it causes a severe damage to an SI engine. Various techniques have been proposed so far, in order to detect early knock symptoms. This paper presents a novel approach to detect knocking using technique of Artificial Intelligence. A four stroke, single cylinder engine is simulated using GT Power engine simulation software. Data is generated through simulation for both knock and no-knock conditions. A CMAC (Cerebellar Model Articulation Controller) based neural network is then applied as an AI (Artificial Intelligence) tool to distinguish between knock and no-knock conditions. The results show a promising future for CMAC neural networks as a technique to detect knocking in SI engines.

关键词： Engines Neural networks Silicon Vectors Combustion Fires Feature extraction

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