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Optimal design of vibration power generator for low frequency

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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Real-time face detection for human robot interaction

Real-time face detection for human robot interaction

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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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Realization of the action-oriented education approach by programming a microcontroller steered mobile robot

Realization of the action-oriented education approach by pro...

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Dusko Lukac Lejla Banjanovic-Mehmedovic Department of Robotics and Mechatronics Rheinische Fachhochschule Köln gGmbH University of Applied Sciences Cologne Germany Department of Automation Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina

Focus of this paper is on the development of the action-oriented education approach. Results from secondary data analysis and different empirical studies indicate that for the different levels of education (for example, tertiary practical education as well as operational professional training), enterprises and educational experts expect more competence extension in the future. The concept of action-oriented education which includes informing-process, planning, decision-making, evaluation, examination and achievement should lead the trainee to the development of their own key qualifications, predominantly their own methods and social competence to meet requirements. The concept of action-oriented education is explained by using learning purpose formulation related to the example of the assembly and programming of the microcontroller steered mobile robot. In this context, the role of the trainer is explained, who should be a moderator during his/her instructor's activity in order to increasingly advance the trainees learning and to qualify them in single handed project work and also in groups.

关键词： Educational programs Programming profession Robot programming Microcontrollers Mobile robots Data analysis Meeting planning Decision making Qualifications Robotic assembly

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Experiment of measurement and control using embedded system for undergraduate students

Experiment of measurement and control using embedded system ...

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作者： Matsunaga, Nobutomo Shiotsuki, Tetsuo Okajima, Hiroshi Ohmura, Nobuaki Teramura, Hironori Kumamoto University Department of Computer Science and Electrical Engineering Kurokami 2-39-1 Kumamoto 860-8555 Japan Tokyo Denki University Department of Robotics and Mechatronics Kanda Nishiki-cho 2-2 Chiyoda-Ku Tokyo 101-8457 Japan Kumamoto University Technical Division Faculty of Engineering Kurokami 2-39-1 Kumamoto 860-8555 Japan

ISBN: (纸本)9783902661562

In the department of computer science and electrical engineering (CSEE), Kumamoto university, a series of student experiments are prepared for 2nd and 3rd graders. In the technical educations, experiments about the computer science and electrical engineering are important to study the engineering comprehensively. In experiment I, 2nd graders study the fundamental treatment of measurement equipments, behaviors of major devices and technical writing of engineering reports. In experiment II, 3rd graders study technical issues about computer science and electrical engineering in more detail. This paper concerns the experimental program entitled "measurement and control using embedded system" in experiment II for 3rd graders. The purpose of this experiment is to design a simple PID controller on the micro control units (Lenesas M16C/26 MCU). To implement the PID controller, students program the software functions step by step, e.g. PWM signal generation using interrupted handling, encoder counter using the event timer. The detail of experimental program using embedded system is explained in this paper.

关键词： Three term control systems

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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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Performance of piezoelectric micropumps actuated by charge recovery

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Procedia Chemistry 2009年第1期1卷 698-701页

作者： Giovanni Biancuzzi Thomas Lemke Peter Woias Olaf Ruthmann Hans J. Schrag Bernhard Vodermayer Thomas Schmid Frank Goldschmidtboeing Department of Microsystems Engineering - IMTEK University of Freiburg Freiburg im Breisgau Germany Department of General and Visceral Surgery University Hospital Freiburg Freiburg im Breisgau Germany Institute for Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany

The German Artificial Sphincter System (GASS) aims at the development of an implantable device intended for the treatment of fecal or urinary incontinence. The core of the system is a piezoactuated silicon micropump that is able to pressurize/depressurize a cuff prosthesis. Our group has developed advanced piezoactuators and electronic driving circuits in order to reduce the power consumption of our system. In this paper we present our results regarding the performance of a charge recovery driver in comparison with a conventional driver. We have achieved a similar mechanical performance of the pump while cutting power consumption by more than 50%.

关键词： charge recovery driver piezoactuator micropump low power

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An Improved Approach to Estimate Soft Tissue Parameters Using Genetic Algorithm for Minimally Invasive Measurement

An Improved Approach to Estimate Soft Tissue Parameters Usin...

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International Conference on BioMedical engineering and Informatics (BMEI)

作者： Yashar Madjidi Bijan Shirinzadeh Reza Banirazi Yanling Tian Julian Smith Yongmin Zhong Robotics & Mechatronics Research Laboratory Department of Mechanical & AeroSpace Engineering Monash University Clayton VIC Australia Department of Surgery Monash Medical Centre Monash University Clayton VIC Australia Department of Mechanical Engineering Curtin University of Technology WA Australia

ISBN: (纸本)9781424441327

This paper evaluates the ability of a gradient-free estimation method using genetic algorithm (GA) to model the elastic stress response of the anterior cruciate ligament (ACL) based on quasi-linear viscoelastic (QLV) theory. The improved GA simultaneously fits the ramping and relaxation experimental data to the QLV constitutive equation to obtain the soft tissue parameters. This approach is then compared with a previously evaluated method for two exponential and polynomial QLV models. The earlier approaches are mainly based on regression algorithms, which usually try to find a gradient-based solution with probability of poor convergence and variability of constants. Contrarily, this paper presents a gradient-free algorithm based on the improved timesaving GA. The results demonstrate that the ability of this algorithm to estimate the QLV parameters in timesaving process is functional to develop the optimal methodology for minimally invasive measurement during surgery.

关键词： Parameter estimation Biological tissues Genetic algorithms Minimally invasive surgery Stress Ligaments Viscosity Elasticity Equations Polynomials

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Thumb-tip force estimation from sEMG and a musculoskeletal model for real-time finger prosthesis

Thumb-tip force estimation from sEMG and a musculoskeletal m...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Won-Il Park Sun-Cheol Kwon Hae-Dong Lee Jung Kim KAIST Robotics program Daejeon South Korea Department of Mechanical Engineering KAIST Daejeon South Korea BK21 Mechatronics Group Chungnam National University Daejeon South Korea

Due to the difficulties in measurement of muscle activities and the complex musculoskeletal structure, estimations of the thumb-tip force in real time have been a challenge for controlling artificial prosthesis naturally. This study describes an isometric thumb-tip force estimation technique based on phenomenological muscle model named Hill's model. The surface electromyogram(sEMG) signals of the muscles near surface were measured and converted to muscle activation information. The activations of deep muscles were inferred from the ratios of muscle activations from earlier study. The muscle length of each contributed muscle was obtained by using motion capture system and musculoskeletal modeling software packages. Once muscle forces were calculated, thumb-tip force was estimated based on mapping model from the muscle force to thumb-tip force. The proposed method was evaluated in comparisons with an artificial neural network (ANN) under four different thumb configurations to investigate the potential for estimations under conditions in which the thumb configuration changes. The results seem to be promising and the proposed method could be applied to predict finger-tip forces from non-invasive neurosignals with a real-time prosthesis control system.

关键词： Musculoskeletal system Fingers Prosthetics Muscles Force measurement Force control Artificial neural networks Thumb Software packages Real time systems

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Enhancement of infrared-based image identification system for security robots by image decomposition

Enhancement of infrared-based image identification system fo...

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International Conference on Autonomous Robots and Agents, ICARA

作者： K.H. Abas O. Ono Z. Ibrahim Dept. of Electron. & Bioinf. Meiji Univ. Kawasaki Department of Electronics and Bioinformatics Faculty of Science and Technology Meiji University Japan Department of Mechatronics and Robotics Faculty of Electrical Engineering University Technology of Malaysia Malaysia

In this paper, a new infrared-based face identification system based on an input image decomposition is presented. The proposed image decomposition is a novel approach to transform an infrared image into a multilayer infrared image based on energy levels. Image decomposition is done by firstly applying false-color palette to the input image which will then be decomposed according to each of the false-color layer. The proposed approach is able to identify correct images from manifold poses by using frontal view of the infrared images and its decomposition layers as training images. In this work, the proposed method was verified through the implementation on a face recognition system, which was based on wavelet and neural network classification. The application of this finding is substantial, for security and rescue robots, for example, where a single image is acquired and should be critically identified.

关键词： Security Robots Image decomposition Face recognition Lighting Infrared imaging Biometrics Image generation Bioinformatics Nonhomogeneous media

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Visible classification of task-switching strategies in vehicle operation

Visible classification of task-switching strategies in vehic...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Satoshi Suzuki Takenori Sasaki Fumio Harashima School of Science and Technology for Future Life Department of Robotics and Mechatronics Tokyo Denki University Chiyoda Tokyo Japan Department of Electrical Engineering Tokyo Denki University Chiyoda Tokyo Japan Tokyo Metropolitan University Hachioji Tokyo Japan

On a remote vehicle manipulation, both a task scheduling and an adequate selecting of operation commands are significant to execute sequential task successfully. Hence, for a future assistive intelligent mechatronics, automatic recognition of the operator's task-switching is required to support him / her timely. In the present research, an analysis procedure to make the task-switching strategy visible is presented by utilizing the Self-Organizing Map (SOM). For practical verification, a cooperation task in a virtual computer space was used, and the proposed analysis procedure was applied to the experimental data. As a result, obvious separation of each operation mode was demonstrated as the operator became skilled. And, it was confirmed that the proposed method was valid for a skill evaluation of remote vehicle manipulation.

关键词： Hidden Markov models Biological system modeling Remotely operated vehicles mechatronics Databases Human robot interaction Delay effects Intelligent robots Machine intelligence Educational technology

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