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Optimal design of vibration power generator for low frequency

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作者： Hadas, Zdenek Singule, Vladislav Ondrusek, Cestmir Institute of Solid Mechanics Mechatronics and Biomechanics Faculty of Mechanical Engineering Brno University of Technology Technicka 2 616 69 Brno Czech Republic Institute of Production Machines Systems and Robotics Faculty of Mechanical Engineering Brno University of Technology Technicka 2 616 69 Brno Czech Republic Department of Power Electrical and Electronic Engineering Faculty of Electrical Engineering and Communication Brno University of Technology Technicka 8 61669 Brno Czech Republic

ISBN: (纸本)3908451655

This paper deals with an optimal design of an electromagnetic energy harvesting generator for supplying wireless sensors with energy. The developed device is complex mechatronic system which generates an electrical power from an ambient low frequency mechanical vibration by use of a suitable electromagnetic generator. This device is excited by ambient mechanical vibration and electrical energy is harvested due to Faraday's law. The design of this vibration power generator results from development cycles and the final generator can provide sufficient electrical energy for wireless sensors. The vibration power generator is tuned up to frequency of vibration 17 Hz and harvested output power depends non-linearly on level of vibration. The vibration power generator operates in level of vibration 0.1 - 1 G peak and output power is in range 2 - 25 mW. © (2009) Trans Tech Publications.

关键词： Energy harvesting

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Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin

Experimental study on dynamic reactionless motions with DLR'...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Dragomir Nenchev Alin Albu-Schäffer Gerd Hirzinger DLR German AeroSpace Center Institute of Robotics and Mechatronics Wessling Germany Department of Mechanical Systems Engineering Tokyo City University of Japan Setagaya Tokyo Japan

The capabilities of DLR's multi-DOF humanoid robot Justin are extended with the help of a dynamic torque control component for base reaction minimization. Since the mobile base of the robot comprises springs, reactions induced by arm/torso motions lead to vibrations and deteriorate the performance. The control component is derived from the equation of motion of the robot, represented as an underactuated system, and partitioned into a ¿driven¿ subsystem (one of the arms), and a ¿compensating¿ subsystem (the other arm, with or w/o torso contribution). The control component is then embedded into the existing sophisticated controller structure of Justin, as a feedforward component, with additional control signals from an augmented PD feedback controller. It was possible to obtain satisfactory performance with a very ¿soft¿ compensatory subsystem. The experimental results confirmed the potential of this model-based approach for use in a complex multi-DOF system. As far as we know, this is the first time that a dynamic-coupling compensating controller is applied to a real system of such complexity, utilizing thereby a torque control interface.

关键词： Humanoid robots Torque control Torso Control systems Mobile robots Springs Motion control Equations Manipulators PD control

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On the role of multimodal communication in telesurgery systems

On the role of multimodal communication in telesurgery syste...

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2009 IEEE International Workshop on Multimedia Signal Processing, MMSP '09

作者： Bauernschmitt, Robert Hirzinger, Gerhard Lange, Rüdiger Steinbach, Eckehard Braun, Eva U. Kammerl, Julius Mayer, Hermann Tobergte, Andreas Buss, Martin Knoll, Alois Rank, Markus Ulbrich, Heinz Fröhlich, Florian Konietschke, Rainer Schillhuber, Gerhard Vittorias, Iason Hirche, Sandra Kübler, Bernhard Staub, Christoph Zhao, Chen Institute for Media Technology Technische Universität München Munich Germany Institute of Automatic Control Engineering Technische Universität München Munich Germany Institute of Applied Mechanics Technische Universität München Munich Germany Institute of Robotics and Embedded Systems Technische Universität München Munich Germany German Heart Center Munich Clinic for Cardiovascular Surgery Munich Germany German Aerospace Center Institute of Robotics and Mechatronics Oberpfaffenhofen Germany

ISBN: (纸本)9781424444649

Telesurgery systems integrate multimodal communication and robotic technologies to enable surgical procedures to be performed from remote locations. They allow human surgeons to intuitively control laparoscopic instruments and to navigate within the human body. In this paper, we present selected topics on multimodal interaction in the context of telesurgery applications. These are results from the collaborative research project SFB 453 on "High-Fidelity Telepresence and Teleaction" which is funded by the German Research Foundation in the larger Munich area. The focus in this paper is on multimodal information processing and communication including simulation of surgical targets in the human body. Furthermore, we present an overview of our advanced multimodal telesurgery demonstrators that provide a comprehensive platform for our collaborative telepresence research. © 2009 IEEE.

关键词： Visual communication

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Posture control of a dual-crawler-driven robot

Posture control of a dual-crawler-driven robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Qiquan Quan Shugen Ma Bin Li Rongqiang Liu Department of Robotics Ritsumeikan University Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China School of Mechatronics Engineering Harbin Institute of Technology China

This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted. In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.

关键词： robotics and automation Crawlers Actuators Mobile robots Control systems Switches Gears Motion control Stability Automatic generation control

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Estimating the position of parts of an automobile cowl cross bar assembly using CCD camera

Estimating the position of parts of an automobile cowl cross...

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International Symposium on Optomechatronic Technologies, ISOT

作者： Yong-Soo Jang Soon-Geul Lee Dong-Hyuk Cha Jeonil Moon Department of Mechanical Engineering Kyung Hee University Yongin si South Korea Department of Mechatronics Engineering Korea Polytechnic University Sihung South Korea Department of Robotics Engineering Hoseo University Asan South Korea

This paper realized an inspection system of the cowl cross assembly which is an automotive part using single CCD camera. Edge is extracted by Sobel operator after improving image quality with homomorphic filter. The unnecessary segments and the unnecessary edge elements are removed from the obtained edge image by labeling. The accurate center of the merged segment can be estimated using RHT (Randomized Hough Transform). Existence of defect can be decided by comparing the CAD information of the cowl cross assembly with the estimated center position. Efficiency of the proposed method was proven by accurate inspection result for various target images at the poor environment such as the real industrial field.

关键词： Automobiles Charge coupled devices Charge-coupled image sensors Inspection Image segmentation Assembly systems Automotive engineering Image quality Filters Labeling

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Analysis and grasp strategy modeling for underactuated multi-fingered robot hand

Analysis and grasp strategy modeling for underactuated multi...

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IEEE International Conference on mechatronics and Automation

作者： Shuangji Yao Qiang Zhan Marco Ceccarelli Giuseppe Carbone Zhen Lu School of Automation Science and Electrical Engineering Beihang University Beijing P.R. China Robotics Institute Beihang University Beijing P.R. China Laboratory of Robotics and Mechatronics University of Cassino Cassino (Fr) Italy

A survey for grasping synthesis method with dexterous robot hand is presented in this paper. The difference of grasping characters is introduced between dexterous hand and underactuated hand. Especially the feature of self-adaptive enveloping grasp by underactuated finger mechanism is outlined as having good performance in grasping unknown objects. In order to generate valid grasps for unknown target objects and apply in real-time control system for underactuated robot hand, a grasping strategy for universal grasp tasks is proposed as based on human knowledge analysis. It is composed by off-line neural networks training section and on-line compute section. Firstly, daily grasped objects are used to build a sample space from human experience. Then, the discrete sample space is computed by a fuzzy clustering method. Finally, the data are used to generate grasp decision scheme by rough set mixed artificial neural networks. The choices of grasp configurations for the underactuated robot hand are simulated for with the aim to show the practical feasibility of the proposed modeling method.

关键词： Robots Grasping Orbital robotics Humans Artificial neural networks Fingers Real time systems Control systems Computer networks Clustering methods

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Analysis and optimal design of a modular underactuated mechanism for robot fingers

Analysis and optimal design of a modular underactuated mecha...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Shuangji Yao Licheng Wu Marco Ceccarelli Giuseppe Carbone Zhen Lu School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China Laboratory of Robotics and Mechatronics University of Cassino Cassino Frosinone Italy

A frame of modular design problems and requirements for underactuated mechanisms is discussed as related to robotic fingers. The proposed modular mechanism is connected sequentially by series units of underactuated mechanisms, which have the feature of passive self-adaptive in grasp operation and uniformizable in design procedure. The design considerations for modular underactuated mechanism are outlined. Optimality criteria are analyzed with the aim to formulate a general design algorithm. An example of a four-phalanx modular robotic finger is studied as an improvement of new version LARM Hand with the aim to show the practical feasibility for the proposed modular concepts and design methods.

关键词： Fingers Couplings Springs Kinematics Intelligent robots Shape Algorithm design and analysis robotics and automation USA Councils Anthropomorphism

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Real-time face detection for human robot interaction

Real-time face detection for human robot interaction

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Yaozhang Pan Shuzhi Sam Ge Hongsheng He Lei Chen Social Robotics Lab Interactive and Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Cogno Mechatronics Engineering Graduate School Pusan National University South Korea

Face detection plays an important role in developing human-robot interaction (HRI) for social robots to recognize people. In this paper, we introduce an intelligent vision system that is able to detect human face from background and filter out all the non-face but face-like images. The human face is detected using Ada boost-based Haar-Cascade classifier and the real human face detection is improved using extreme learning machine (ELM). The proposed robot vision system for human detection is tested through realtime experiments.

关键词： Face detection Human robot interaction Face recognition Intelligent systems Intelligent robots Learning systems Machine vision Filters Machine learning Robot vision systems

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Motion control of excavator with tele-operated system

Motion control of excavator with tele-operated system

引用

2009 26th International Symposium on Automation and robotics in Construction, ISARC 2009

作者： Kim, Dongnam Oh, Kyeong Won Hong, Daehie Kim, Yoon Ki Hong, Suk-Hie Mechatronics and Field Robotics Laboratory Division of Mechanical Engineering Korea University 5Ga-1 Anam-Dong Sungbuk-Gu Seoul 136-701 Korea Republic of Division of Mechanical Engineering Korea University 5Ga-1 Anam-Dong Sungbuk-Gu Seoul 136-701 Korea Republic of Naekyung Engineering Co. Ltd. 5-1 Sewon building Yangjae-Dong Seocho-Gu Seoul 137-130 Korea Republic of

The number of dismantling sites for buildings has been rapidly increased and these processes are very dangerous. So many research papers have been published addressing the development of a remote controller for the dismantling equipments. In this paper, a novel concept of applying tele-operated device is proposed for the remote control of excavator-like dismantling equipment. As a tele-operated system, this controller is designed to improve the operability of the excavator. This paper also includes all the necessary kinematic analysis to design the tele-operated system. In order to explore the feasibility of the device, modeling of the tele-operated system is used to demonstrate its convenience. Then, the hydraulic system of excavator which uses the proportional valve system is also studied. And basic motion control simulations to the real excavator working at construction site are conducted with designed tele-operated system. And operator can control the real excavator intuitively with this new model of tele-operated system.

关键词： Excavators

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Neural network based speed observer for interior permanent magnet synchronous motor drives

Neural network based speed observer for interior permanent m...

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IEEE Canada Electric Power Conference, EPEC

作者： Hicham Chaoui Wail Gueaieb Mustapha C.E. Yagoub Microsystems Strategic Alliance of Quebec École Polytechnique de Montréal Montreal QUE Canada Machine Intelligence Robotics and Mechatronics research group School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada Machine Intelligence Robotics and Mechatronics Laboratory School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada RF and Microwave (RFM) research group School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada

ISBN: (纸本)9781424445080;9781424445097

This paper introduces an artificial neural network (ANN) based observer for accurate speed control of an interior permanent magnet synchronous machine (IPMSM). A multilayer perception is trained online using back-propagation learning algorithm to estimate the rotor speed. Unlike other observers, no a priori offline training or weights initialization is required. Experiments for different situations highlight the performance of the proposed observer in transient, steady-state, and standstill conditions. The proposed observer is reliable and effective for IPMSM speed control. Furthermore, the neural networks inherent parallelism makes them a good candidate for implementation in real-time PMSM drive systems.

关键词： Neural networks Permanent magnet motors Artificial neural networks Velocity control Permanent magnet machines Magnetic multilayers Multi-layer neural network Rotors Steady-state Real time systems

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