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IEEE Conference on Control Technology and Applications (CCTA)

作者： Hwee Choo Liaw Bijan Shirinzadeh Julian Smith Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia Department of Surgery Monash Medical Centre Faculty of Medicine Nursing and Health Sciences Monash University Clayton VIC Australia

This paper presents an adaptive sliding motion tracking control methodology for a flexure-based micro/nano manipulator driven by a piezoelectric actuator. This control methodology is proposed for tracking desired motion trajectories in view of the problems of unknown or uncertain system parameters, non-linearities including the hysteresis effect, and external disturbances in the system. In this paper, a lumped parameter dynamic model is established for the formulation of the proposed control methodology. The convergence of the position and velocity tracking errors to zero is assured by the approach in the presence of the aforementioned conditions. The stability of the closed-loop system is proven theoretically, and a precise tracking performance in following a desired motion trajectory is demonstrated in the experimental study.

关键词： Programmable control Adaptive control Tracking Motion control Trajectory Manipulator dynamics Piezoelectric actuators Sliding mode control Control systems Uncertain systems

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Nanorobots for Laparoscopic Cancer Surgery

Nanorobots for Laparoscopic Cancer Surgery

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International Conference on Computer and Information Science (ACIS)

作者： Adriano Cavalcanti Bijan Shirinzadeh Declan Murphy Julian A. Smith Robotics and Mechatronics Research Laboratory Department of Mech. Engineering Monash University Melbourne VIC Australia Department of Urology Thomas Guy House Guy''s Hospital London UK Department of Surgery Monash Medical Centre Melbourne VIC Australia

This paper presents an innovative hardware architecture for medical nanorobots, using nanobioelectronics, clinical data, and wireless technologies, as embedded integrated system devices for molecular machine data transmission and control upload, and show how to use it in cancer surgery. The integration of medical nanorobotics and surgical teleoperation has the use of robotic laparoscopy concepts. To illustrate the proposed approach, we applied advanced 3D simulation techniques as a practical choice on methodology for molecular machine integrated system analyses and biomedical instrumentation prototyping.

关键词： Laparoscopes Cancer Oncological surgery Nanoscale devices Hardware Data communication Medical control systems Control systems Medical robotics Analytical models

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Finger Braille Teaching System for People who Communicate with Deafblind People

Finger Braille Teaching System for People who Communicate wi...

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IEEE International Conference on mechatronics and Automation

作者： Yasuhiro Matsuda Tsuneshi Isomura Ichiro Sakuma Etsuko Kobayashi Yasuhiko Jimbo Tatsuhiko Arafune Department of Robotics and Mechatronics Kanagawa Institute of Technology Atsugi Kanagawa Japan Graduate school of Engineering University of Tokyo Bunkyo Tokyo Japan Graduate school of Frontier Sciences University of Tokyo Kashiwa Chiba Japan

Finger Braille is one of tactual communication media of deafblind people. In 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. 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. In this paper, we developed a finger Braille teaching system and designed a teaching interface which taught clauses explicitly. The teaching system recognized non-disabled people's speech and converted to Braille code. By parsing the Braille code, the teaching system retrieved clause information and segmented the Braille code into clauses. Then the dot pattern of the Braille code was displayed. By observing the dot pattern, non-disabled people dotted Finger Braille to deafblind people. An evaluation experiment between a blind person who was skilled in Finger Braille and two nondisabled people who were non-skilled in Finger Braille was carried out. The results showed that the fundamental functions (speech recognition, conversion to Braille code and clause segmentation) were practicable; the nondisabled senders could dot finger Braille accurately and communicate with the blind receiver directly. Therefore it was considered that the teaching system was effective.

关键词： Fingers Education Deafness RAKE receivers Speech recognition mechatronics robotics and automation Educational institutions Actuators Skin

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Sensor Property of a Novel EAP Device with Ionic-liquid-based Bucky Gel

Sensor Property of a Novel EAP Device with Ionic-liquid-base...

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IEEE SENSORS

作者： Norihiro Kamamichi Masaki Yamakita Kinji Asaka Zhi-Wei Luo Toshiharu Mukai Bio-Mimetic Control Research Center RIKEN Nagoya Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Research Institute of Cell Engineering AIST Osaka Japan Department of Computer and Systems Engineering Kobe University Kobe Japan

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. 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. Some of the EAP materials can be used as a sensor as well as an actuator. If sensor function and actuator function exist in a same device, both function can be integrated with keeping the advantages of functional polymeric material. Miniature actuator-sensor systems and feedback control systems can be constructed; therefore, possibility of application can be expanded. In this paper, we verify the sensor device property of bucky gel devices. Based on the experiment, the relationship between an output signal and a deformation is investigated, and an estimation method of a deformation is demonstrated.

关键词： Actuators Carbon nanotubes Liquids Polymer gels Electrodes Sensor systems and applications Mechanical factors Design engineering Feedback control Conducting materials

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Motion tracking control of piezo-driven flexure-based mechanism based on sliding mode strategy

Motion tracking control of piezo-driven flexure-based mechan...

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

作者： Hwee Choo Liaw Bijan Shirinzadeh Julian Smith Gursel Alici Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia Department of Surgery Monash Medical Centre Faculty of Medicine Nursing and Health Sciences Monash University Clayton VIC Australia Chool of Mechanical Materials and Mechatronic Engineering University of Wollongong NSW Australia

This paper presents a motion tracking control methodology based on sliding mode strategy for a flexure-based micro/nano manipulator driven by a piezoelectric actuator. This control methodology is proposed for tracking of desired motion trajectories in the presence of uncertain system parameters, non-linearities including the hysteresis effect, and external disturbances in the control system. In this paper, a four-bar link is investigated and a lumped parameter dynamic model is established for the formulation of the proposed sliding mode motion control methodology. The convergence of the position tracking error to zero is assured by the approach in the presence of the aforementioned conditions. The stability of the closed-loop system is proven theoretically, and a precise tracking performance in following a desired motion trajectory is demonstrated in the experimental study. With the capability of motion tracking, the proposed control methodology can be employed in realising high performance flexure-based control applications.

关键词： Tracking Motion control Sliding mode control Control systems Trajectory Manipulator dynamics Piezoelectric actuators Uncertain systems Hysteresis Nonlinear dynamical systems

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Robust fuzzy logic controller for an intelligent gantry crane system

Robust fuzzy logic controller for an intelligent gantry cran...

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International Conference on Industrial and Information Systems

作者： Wahyudi Jalani, J. Department of Mechatronics Engineering International Islamic University Malaysia Malaysia Department of Robotics and Mechatronics Kolej Universiti Teknologi Tun Hussein Onn Malaysia

ISBN: (纸本)9781424403219

The use of gantry crane systems for transporting payload is very common in industrial application. 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, an intelligent gantry crane system had been introduced. Fuzzy logic controllers were adopted, designed and implemented for controlling payload position as wen as the swing angle of the gantry crane. In this paper, robustness of the proposed intelligent gantry crane system is evaluated and compared with an automatic gantry crane controlled by the classical PID controllers. The result shows that the intelligent gantry crane system is more robust to parameter variation than the automatic gantry crane system.

关键词： cranes fuzzy control intelligent control position control robust control transportation industrial application intelligent gantry crane system parameter variation payload transportation robust fuzzy logic controller swing angle control

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Machine vision application for machined components surface roughness assessment in the micro and nano-scale regions

Machine vision application for machined components surface r...

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13th Annual International Conference on mechatronics and Machine Vision in Practice 2006

作者： Al-Kindi, Ghassan A. Shirinzadeh, Bijan Zhong, Yongmin Department of Mechanical Engineering University of Technology Baghdad Iraq Department of Mechanical Engineering Robotics and Mechatronics Research Laboratory Clayton VIC 3800 Australia

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Deformable object simulation with fluid model

Deformable object simulation with fluid model

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13th Annual International Conference on mechatronics and Machine Vision in Practice 2006

作者： Zhong, Yongmin Shirinzadeh, Bijan Smith, Julian Department of Mechanical Engineering Robotics and Mechatronics Research Laboratory Monash University Australia Department of Surgery Monash Medical Centre Monash University Australia

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Special class of positive definite functions for formulating adaptive micro/nano manipulator control

Special class of positive definite functions for formulating...

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9th IEEE International Workshop on Advanced Motion Control, 2006

作者： Hwee, Choo Liaw Oetomo, Denny Alici, Gursel Shirinzadeh, Bijan Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton Vic. 3800 Australia School of Mechanical Materials and Mechatronic Engineering University of Wollongong NSW 2522 Australia

This paper presents a special class of positive definite functions for the formulation of adaptive control strategies, specifically in the research of an effective control algorithm for piezoelectric actuation systems in micro/nano manipulation. To deal with the control problems of unknown system parameters, nonlinear hysteresis effects, and disturbances in the piezoelectric actuation systems, an adaptive control methodology is proposed. Using the saturation function derived from a positive definite function to formulate the control methodology, the closed-loop system stability can be guaranteed. Furthermore, the control methodology is proposed to track a desired motion trajectory in position, velocity, and acceleration. In this paper, a special positive definite function is introduced and a control formulation as well as a stability analysis is detailed. Implementation of the control methodology is practical and requires only a knowledge of the initial estimate of the system parameters. In this study, control experiments conducted using the proposed control approach on a piezoelectric actuation system has demonstrated a promising ability in tracking a specified motion trajectory. With this control capability in the presence of unknown system parameters, hysteresis, and external disturbance, the adaptive methodology is very attractive in the field of micro/nano manipulation in which high performance control applications could be realised. © 2006 IEEE.

关键词： Manipulators

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