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作者： Elhawary, Haytham Zivanovic, Aleksandar Rea, Marc Davies, Brian L. Besant, Collin McRobbie, Donald Desouza, Nandita M. Young, Ian Lamperth, Michael U. Mechatronics and Medicine Laboratory Imperial College London United Kingdom Imperial College London United Kingdom MRI Acrobot Company Ltd. London United Kingdom Department of Medical Robotics Imperial College London United Kingdom Turbo Genset Radiological Sciences Unit Hammersmith Hospitals National Health Service Trust MRI Unit Institute of Cancer Research Electrical and Electronic Engineering Department Imperial College London United Kingdom Mechanical Engineering Department Imperial College London United Kingdom Mechatronics in Medicine Laboratory Department of Mechanical Engineering Imperial College London South Kensington Campus SW7 2AZ London United Kingdom

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A feasibility study of time-domain passivity approach for bilateral teleoperation of mobile manipulator

A feasibility study of time-domain passivity approach for bi...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Ildar Farkhatdinov Jee-Hwan Ryu Jury Poduraev School of Mechanical Engineering Korea University of Technology and Education Cheonan South Korea Department of Robotics and Mechatronics Moscow State University of Technology STANKIN Moscow Russia

This paper provides results of feasibility study of time domain passivity approach for bilateral teleoperation of mobile manipulator. Mobile manipulator in this study is a manipulator mounted on mobile platform. We consider bilateral teleoperation system in which human-operator sequentially controls speed of mobile platform (rate mode) or position of manipulator via manipulating haptic master device. Force feedback is transmitted to human-operator based on physical interaction of manipulator end-effector with remote environment. Time-domain passivity has been successfully applied to teleoperation systems in which position of master robot was mapped to position of slave robot. In this paper attempt of application of time-domain passivity control for rate and position control of mobile manipulator is presented. Time domain passivity application issues are described and analyzed. Experimental results showed possibility of application of time-domain passivity control for rate control in certain range.

关键词： Time domain analysis Manipulator dynamics Control systems Haptic interfaces Position control Iron Mobile robots Master-slave Stability Educational technology

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Model-Following Control of Nonlinear Systems based on Virtual Constraints

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IFAC Proceedings Volumes 2008年第2期41卷 4834-4839页

作者： Yoshihiro Sawamura Shingo Kojima Masami Iwase Shoshiro Hatakeyama Computers and Systems Engineering Tokyo Denki University Ishizaka Hatoyama-cho Hiki-gun Saitama 350-0394 Japan Department of Robotics and Mechatronics Computers and Systems Engineering Tokyo Denki University 2-2 Nishiki-cho Kanda Tiyoda-ku Tokyo 101-8457 Japan

In this study, we propose a nonlinear model-following control for underactuated systems. A model-following control design is based on the virtual constrains. The concept of virtual constraints control proposed by Shiriaev et. al. The model-following control is useful to realize the tracking system to a given reference model. In underactuated systems, a model-following control for full***actuated systems cannot be not utilized because there are limitations of coordinate transformation such as exact linearization. Thus this study deals with underactuated mechanical nonlinear systems. The design strategy is explained by taking a cart-pendulum as an example for this study. A cart-pendulum is controlled so that a virtual spring-mass-damper property is implemented to a pendulum. Some numerical simulations are performed to verify the effectiveness of the proposed method.

关键词： virtual constraints model-following control projection method underactuated nonlinear system

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Estimation of isometric joint torque from muscle activation and length in intrinsic hand muscle

Estimation of isometric joint torque from muscle activation ...

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International Conference on Control, Automation and Systems ( ICCAS)

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

Due to the complicated relationship between a muscle activation level and isometric joint torques, predicting torques under isometric conditions have been an obstacle to neuromuscular control of robots in the field of human robot interaction (HRI). This study describes the isometric torque estimation of the metacarpophalangeal (MCP) joint of a human hand based on the Hill muscle model. Surface electromyography (sEMG) for muscle activation and ultrasound imaging technique for muscle length changes of the first dorsal interosseous (FDI) muscle were employed under isometric condition. The result showed that the prediction is more dependent on sEMG than length change and has a high correlation value (r = 0.9604) with the measured torque. This result indicates the possibility of a torque prediction method based on the Hill muscle model for natural human robot interaction.

关键词： Muscles Human robot interaction Ultrasonic imaging Neuromuscular Torque control Robot control Electromyography Fault detection Length measurement Torque measurement

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A New High Performance Digitally Controlled DC-DC Converter with Peak Current-Injected Control

A New High Performance Digitally Controlled DC-DC Converter ...

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39th IEEE Power Electronics Specialists Conference (PESC 2008), vol.2

作者： Fujio Kurokawa Shohei Sukita Yuichiro Shibata Tomoki Yokoyama Masahiro Sasaki Yasuhiro Mimura Graduate School of Science and Technology Nagasaki University Japan Department of Electrical and Electronic Engineering Nagasaki University Japan Department of Robotics and Mechatronics Tokyo Denki University Japan Shindengen Electric Manufacturing Company Limited Japan

The current mode dc-dc converter is useful in order to perform the superior dynamic characteristics. However, these studies have focused on sensing the average value of the switch/reactor current because it is very difficult to sample the data of accurate peak point of switch/reactor current in the digitally controlled high switching converter. Therefore, it has been reported that the peak point is estimated from the slope of reactor current, but there has been no study that tried to detect the peak value of reactor/switch current in the fast switching dc-dc converter. This paper presents a new digital control circuit which is able to detect not only the average output voltage but also the peak switch current of the high frequency switching dc-dc converter. In this proposed digital control circuit, the peak current-injected control is realized using the combination of the simple dual pulse width modulation analog-to-digital signal converter and the programmed delay circuit. In 100kHz digitally controlled dc-dc converter, it is seen in simulation that the proposed method has no overshoot of the output voltage and the convergence time that the output voltage is settled to steady-state is only 30(mu)s. The difference between the transient time of the proposed circuit and that of the conventional method is an order of magnitude.

关键词： Converters Switches Inductors Digital control Delay Detectors Transient analysis

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Control system design and experimental verification of Capsubot

Control system design and experimental verification of Capsu...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Namkon Lee Norihiro Kamamichi Hongyi Li Katsuhisa Furuta Department of Advanced Multidisciplinary Engineering Graduate School of Advanced Science and Technology Tokyo Denki University Japan Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Japan Shenyang Institute of Automation China

ISBN: (纸本)9781424420575

This paper is concerned with the development of the capsule robot (Capsubot) which can move with no external parts. It is easy to be constructed in small scale and maybe can be used for medical uses such as the endoscope since the Capsubot moves bidirectionally. The Capsubot could move by exerting friction force through movement of inside mass. This paper shows theoretical analysis and experimental verification of the locomotion for the Capsubot. In the experiment, the motion of inner mass is generated by coils and a magnet. Displacement of the Capsubot is measured by laser sensor and also position of the inside mass is measured. Using the developed test system, the motion of the developed Capsubot is experimentally compared with the one of the theoretical model.

关键词： Friction Force Coils Driver circuits Analytical models Acceleration Computational modeling

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A new digital control DC-DC converter with peak current -injected control

A new digital control DC-DC converter with peak current -inj...

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International Conference on Telecommunications Energy (INTELEC)

作者： Fujio Kurokawa Shohei Sukita Yuichiro Shibata Tomoki Yokoyama Masahiro Sasaki Yasuhiro Mimura Department of Electrical and Electronic Engineering Nagasaki University Japan Graduate School of Science and Technology Nagasaki University Japan Nagasaki Daigaku Nagasaki Nagasaki JP Department of Robotics and Mechatronics Tokyo Denki University Japan Shindengen Electric Manufacturing Company Limited Japan

This paper presents a new digital control circuit which is able to detect the peak switch current of the high frequency switching dc-dc converter. In this proposed digital control circuit, the peak current-injected control is realized using the combination of the simple dual pulse width modulation analog-to-digital signal converter and the programmed delay circuit. In 100 kHz digitally controlled dc-dc converter, it is seen in simulation that the proposed method has no overshoot of the output voltage and the convergence time that the output voltage is settled to steady-state is only 30 mus. The difference between the transient time of the proposed circuit and that of the conventional method is an order of magnitude. Furthermore, the ratio of resolution of the DPWM generator against the output voltage is 0.27% and is satisfied to apply the commercial power supply unit.

关键词： Converters Delay Digital control Switches Generators Inductors Detectors

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Analysis of Emotional Expression of Finger Braille

Analysis of Emotional Expression of Finger Braille

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第七届亚太地区医学与生物学工程学术年会

作者： Y.Matsuda I.Sakuma Y.Jimbo E.Kobayashi T.Arafune T.Isomura Department of Robotics and Mechatronics Kanagawa Institute of Technology Atsugi Japan Graduate School of Engineering The University of Tokyo Tokyo Japan Graduate School of Frontier Sciences The University of Tokyo Kashiwa Japan National Institute of Advanced Industrial Science and Technology Tsukuba Japan

Finger Braille is one of tactual communication media of deafblind people. In two-handed Finger Braille, index finger, middle finger and ring finger of both hands are likened to keys of a Braille typewriter. A sender dots Braille code on the fingers of a receiver like whether he/she does the type of the Braille typewriter. Then the receiver recognizes the Braille code. In one-handed Finger Braille, the sender dots the left column of Braille code on the DIP joints of three fingers of the receiver, and then the sender dots the right column of Braille code on the PIP joints of them. Deafblind people who are skilled in Finger Braille can catch up with speech conversation and express various emotions. Because there are small non-disabled people who are skilled in Finger Braille, deafblind people communicate only with interpreters. Objective of this study is development of a Finger Braille supporting device which assists not only verbal communication but also non-verbal (emotional) communication between deafblind people and non-disabled people who are not skilled in Finger Braille. In this paper, an experiment of emotional expression of Finger Braille was carried out. And we analyzed features of emotional expression of Finger Braille and discussed algorithm of emo-tion recognition. The features of emotional expression were: (1) the durations of code of Joy were particularly shorter than other emotions;(2) the durations of code of Sadness were particularly longer than other emotions;(3) the finger loads of Anger were particularly bigger than other emotions. To de-velop emotion recognition system, we discussed algorithm of emotion recognition using the accelerometers worn by tester. According to the results of discriminant analysis, it was con-sidered that emotion recognition using the discriminant func-tions and the average of posterior probabilities in a sentence was possible.

关键词： deafblind, Finger Braille, emotional expression, prosody, emotion recognition

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Fabrication of Bucky Gel Actuator/Sensor Devices Based on Printing Method

Fabrication of Bucky Gel Actuator/Sensor Devices Based on Pr...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 526-1042

作者： Norihiro Kamamichi Toshiharu Maeba Masaki Yamakita Toshiharu Mukai Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Chiyoda Tokyo Japan Institute of Physical and Chemical Research Bio-mimetic Control Research Center Nagoya Japan Department of Control and Systems Engineering School of Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Mechanical and Control Engineering Graduate School of Science Tokyo Institute of Technology Riken Japan BMC Riken Japan

ISBN: (纸本)9781424420575

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. In addition, the bucky gel device generates electromotive force when bending, and then it also can be used as a sensor. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. In this paper, we demonstrate an automatic fabrication method of the bucky gel devices based on a printing method. By using a dispensing machine, we construct the printing system, and manual forming process is replaced with automatic printing. We investigate the printing of complicated shapes and 3D electrode pattern through experiments.

关键词： Printing Gels Printing process Printing system fabrication FORMING PROCESSES electromotive forces Low voltage

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Hardware-In-The-Loop Simulation (HILS) Based Design and Evaluation of an Intelligent Gantry Crane System

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International Journal of Automation Technology 2007年第1期1卷 11-19页

作者： Wahyudi Jalani, Jamaludin Department of Mechatronics Engineering International Islamic University Malaysia PO BOX 10 Kuala Lumpur50728 Malaysia Department of Mechatronics and Robotics Kolej Universiti Teknologi Tun Hussein Onn Johor Malaysia

The use of gantry crane systems for transporting payload is very common in industrial applications. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, this paper describes development of an intelligent gantry crane system based on the mechatronics design. A lab-scale gantry crane is designed and then its intelligent controllers are developed. Fuzzy logic controllers are adopted, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. The performance of the proposed intelligent gantry crane system is evaluated on a hardware-in-the-loop simulation (HILS) environment. Moreover robustness of the proposed system is also evaluated experimentally in the HILS environment. The result shows that the proposed intelligent gantry crane system designed based on the mechatronics design approach has better performance than the automatic gantry crane system controlled by classical PID controllers. Moreover the result also shows that the intelligent gantry crane system is more robust to parameter variation than the automatic gantry crane system. © 2007, Fuji Technology Press. All rights reserved.

关键词： Controllers

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