检索结果-内蒙古大学图书馆

17th International Conference on engineering of Modern Electric Systems, EMES 2023

作者： Oarcea, Alexandru Popister, Florin Ciudin, Paul Salatioan, Michael Christian The Politechnic University of Timisoaora Dept. of Mechatronics Timisoara Romania Technical University of Cluj-Napoca Dep. of Design Engineering and Robotics Cluj-Napoca Romania

ISBN: (纸本)9798350310634

In this paper we analyze the development process of a smart knee orthosis that can monitor the bearer's movements and provide real-time feedback to aid the bearer's proper recovery after an injury. The development process includes the 3D scanning of the patients knee joint, the 3D modeling of the orthosis, the 3D printing of the orthosis, the integration of IMU (Inertial Measurement Unit) sensors, the integration of the microcontroller and the implementation of the data acquisition and control. The implementation with the use of 3D printing parts will guarantee the best fit on the wearer's foot, offering increased comfort. © 2023 IEEE.

关键词： Microcontrollers

来源：评论

学校读者我要写书评

暂无评论

Development of Smart Orthosis with Real-time Corrective Feedback

Development of Smart Orthosis with Real-time Corrective Feed...

引用

International Conference on engineering of Modern Electric Systems (EMES)

作者： Alexandru Oarcea Florin Popister Paul Ciudin Michael Christian Salatioan Dept. of Mechatronics The Politechnic University of Timisoaora Timisoara Romania Dep. of Design Engineering and Robotics Technical University of Cluj-Napoca Cluj-Napoca Romania

关键词：

来源：评论

学校读者我要写书评

暂无评论

Analysis of a Variable Stiffness Soft Actuator for Lower Back Pain Rehabilitation

Analysis of a Variable Stiffness Soft Actuator for Lower Bac...

引用

Artificial Intelligence, robotics and Control (AIRC), International Conference on

作者： Muhammed Gaafar Mahmoud Magdy Haitham El-Hussieny Ahmed El-Betar Mechanical Engineering Dept. Benha University Benha Egypt Mechanical Engineering Dept. The British University in Egypt Cairo Egypt Mechatronics and Robotics Engineering Dep. Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (数字)9798350385076

ISBN: (纸本)9798350385083

This work presents an analysis of a soft actuator that has customizable stiffness, using the concept of chain mail jamming. The actuator has the ability to achieve adaptive stiffness in a wearable exosuit designed for spinal rehabilitation. It can reshape and exert variable force to aid in this process. The jamming phenomenon occurs when particles within a pliable enclosure become entangled due to the application of pressure along their borders. This is commonly used in the construction of mechanisms that have adjustable stiffness. Chain mail has a smaller packing fraction and offers greater tensile force in comparison to standard jamming media. This work introduces the application of chain mail jamming to soft wearable robotics. Finite Element Analysis confirms the benefits of customizable stiffness in a wearable exosuit for spinal rehabilitation.

关键词： Actuators Pain Shape Force Wearable robots Soft robotics Finite element analysis

来源：评论

学校读者我要写书评

暂无评论

Experimental Analysis of Gmapping SLAM Algorithm for Mobile Robot Indoor Navigation

Experimental Analysis of Gmapping SLAM Algorithm for Mobile ...

引用

Artificial Intelligence, robotics and Control (AIRC), International Conference on

作者： Mohamed Reda Ahmed Abdulbaky Haitham El-Hussieny Mahmoud Magdy Mechanical Engineering Dept. The British University in Egypt (BUE) Cairo Egypt InnoVision Systems Company Cairo Egypt Mechatronics and Robotics Engineering Dep. Egypt-Japan University of Science and Technology (E-JUST) Alexandria Egypt

ISBN: (数字)9798350385076

ISBN: (纸本)9798350385083

The main subject of this paper is the experimental analysis of LiDAR-SLAM-based indoor navigation for a mobile robot, considering the effect of the mobile robot's linear and angular velocities on the deviation that occurs in the resulting 2D map. Our objective in this paper is to utilize the robotics Operating System (ROS) and the Gmapping method, which rely solely on LiDAR and IMU for simultaneous localization and mapping (SLAM). It was observed that as the velocity increases, the deviation of the map decreases. After experimenting with various velocities, it was determined that the optimum velocity is 1.0 m/s. This velocity is optimal for indoor navigation within the scope of our experimental environment, exhibiting the minimum deviation from the ground truth map.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Integrated task assignment and path planning for capacitated multi-agent pickup and delivery

arXiv

引用

arXiv 2021年

作者： Chen, Zhe Alonso-Mora, Javier Bai, Xiaoshan Harabor, Daniel D. Stuckey, Peter J. The Faculty of Information Technology Monash University Wellington Rd ClaytonVIC3800 Australia The Dep. of Cognitive Robotics Delft University of Technology Delft2628 CD Netherlands The College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China

Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of automated warehouse logistics and automated mail sortation, MAPD requires first deciding which robot is assigned what task (i.e., Task Assignment or TA) followed by a subsequent coordination problem where each robot must be assigned collision-free paths so as to successfully complete its assignment (i.e., Multi-Agent Path Finding or MAPF). Leading methods in this area solve MAPD sequentially: first assigning tasks, then assigning paths. In this work we propose a new coupled method where task assignment choices are informed by actual delivery costs instead of by lower-bound estimates. The main ingredients of our approach are a marginal-cost assignment heuristic and a meta-heuristic improvement strategy based on Large Neighbourhood Search. As a further contribution, we also consider a variant of the MAPD problem where each robot can carry multiple tasks instead of just one. Numerical simulations show that our approach yields efficient and timely solutions and we report significant improvement compared with other recent methods from the literature. © 2021, CC BY-NC-ND.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Primary User Detection in Cognitive Radio Networks Over Fading Channel Using Compressed Sensing

Primary User Detection in Cognitive Radio Networks Over Fadi...

引用

Japan-Egypt International Conference on Electronics, Communications and Computers (JEC-ECC)

作者： M. Abo-Zahhad Sabah M. Ahmed Mohammed Farrag Khaled Ali BaAli Electronics and Communication Engineering Dep. E-JUST Alexandria Egypt Mechatronics and Robotics Engineering Dep. E-JUST Alexandria Egypt Electrical Engineering Dep. King Khalid University Abha KSA Electronics and Communication Dep. Hadhramaut University Hadhramaut Yemen Republic

ISBN: (纸本)9781538692318;9781538692301

Compressed spectrum sensing has gained considerable importance among researchers in the field of concern as a solution for wideband cognitive radio networks. Recently, published works on detecting primary users' signals presented sustainable results by using small compression ratios over the AWGN channel. To the best of our knowledge, since the performance of compressed measurements based detection has not been investigated yet over fading channels, the current study, therefore, presents the performance of compressed measurements based energy detection over Rayleigh fading channel. The proposed work has been implemented by means of MATLAB software. In comparison with the traditional compressed energy detection over the Rayleigh fading channel, the results show that our proposed technique is better in detection performance.

关键词： Fading channels Cognitive radio Detectors Wideband Energy measurement Signal to noise ratio

来源：评论

学校读者我要写书评

暂无评论

Singularity Analysis of a Novel 4-DOF Surgical Robot

Singularity Analysis of a Novel 4-DOF Surgical Robot

引用

International Conference on Information Science and Control engineering (ICISCE)

作者： Alaa Khalifa Mohamed Fanni Abdelfatah M. Mohamed Mechatronics and Robotics Engineering Dep. School of Innovative Design Engineering New Borg EI-Arab city Alexandria Egypt On leave: Production Engineering and Mechanical Design Dep. Mansoura University Egypt On leave: Electrical Engineering Dep. Assuit University Egypt

ISBN: (纸本)9781509025367

This paper presents the singularity analysis of a novel endoscopic surgical parallel manipulator. The 4-DOF, 2- PUU_2-PUS, surgical robot design has larger bending angles and workspace volume. All previous manipulators have a zero pitch and infinity pitch reciprocal screws, so it is easy to find out the singular configurations inside the workspace. On the other hand, the novel 4-DOF surgical robot (2-PUU_2-PUS) has h-pitch reciprocal screws. The known geometrical approach for reciprocal-screws could not provide all singular configurations of the novel manipulator. Geometrical/Analytical approach for reciprocal-screws based singularity analysis of 2-PUU_2-PUS is proposed. The proposed algorithm can find all singular configurations of any limited DOF parallel manipulator with h-pitch reciprocal screws. The results show the feasibility of the proposed algorithm to find all singular configurations of the 4-DOF parallel manipulator. The discovered singularity configurations shrieked greatly the singularity free workspace to one fourth the original workspace. In order to be able to work through the entire workspace, we suggest changing the topology structure of the manipulator.

关键词： Fasteners Manipulators Actuators Wires Surgery Medical robotics Algorithm design and analysis

来源：评论

学校读者我要写书评

暂无评论

Controller Design and Implementation of The Transformation/Manipulation System of a Novel Hybrid Ground Aerial Robot

Controller Design and Implementation of The Transformation/M...

引用

2015 IEEE Advanced Information Technology,Electronic and Automation Control Conference(IAEAC 2015)

作者： Maha Saeed Mohamed Fanni Abdelfatah M.Mohamed Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUST Mechanical Design Dep. Faculty of EngineeringMansoura University Electrical Engineering Dep. Faculty of EngineeringAssuit University

ISBN: (纸本)9781479919819

This paper presents the design and implementation of the control system for the transformation/manipulation system that is used in a new Hybrid Ground Aerial Robot(HGAR).The transformation mechanism is used to transform the robot from flying configuration to ground motion configuration and vice *** manipulator is attached to one of the four propeller arms to manipulate objects during ground *** controller is designed based on feedback linearization method.A simple algorithm is implemented on Arduino board for controlling the angle of the propeller arm with and without *** angle of the arm is controlled by propeller *** angle of the arm is measured by inertial measurement unit(IMU).The manipulator is controlled by *** configuration of the manipulator is determined using the joint-angles data and fed to the propeller arm controller to estimate the compensated *** addition,an integral term is added to the controller to introduce robustness against payload variation and parameters *** set up is built to apply the proposed controller on the system and test its ***,the experimental results showed the effectiveness and accuracy of the proposed controller.

关键词： Feedback Linearization Propeller Thrust Inertial Measurement Unit Manipulator Ground Aerial Robot Transformation Mechanism

来源：评论

学校读者我要写书评

暂无评论

Control system simulation for endoscopie surgical manipulator based on virtual chain approach

Control system simulation for endoscopie surgical manipulato...

引用

2012 1st International Conference on Innovative engineering Systems, ICIES 2012

作者： Ibrahim, Khalil Ramadan, Ahmed Farmi, Mohamed Kobayashi, Yo Abo-Ismail, Ahmed Fujie, Masakatus G. Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Computers and Automatic Control Engineering Dep. Tanta University Tanta Egypt Mechanical Department Mansoura University Mansoura Egypt Faculty of Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781467344388

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopie surgical manipulator. The proposed mechanism, 2-PUU 2PUS, is designed based on the screw theory and the parallel virtual chain type synthesis method. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB software. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error. © 2012 IEEE.

关键词： MATLAB

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

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：