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IEEE Region 10 International Conference TENCON

作者： A.A.S. Al-Jumaily S.H.M. Amin Intelligent system Engineering Group Department of Mechatronics Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Center for Artificial Intelligence and Robotics Faculty of Electrical Fbgmeering Universiti Teknologi Malaysia Skudai Johor Malaysia

The reaction of autonomous mobile robot to the dynamic, uncertain, and changeable environment is one of most difficult issue in control of the intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling the intelligent reactive navigation. Present work deals with building of fuzzy behaviors based reactive navigation to reach the goal, propose new method to blend and coordinate multiple behaviors in the same time. This method using fuzzy technique and fix priority value reflects the importance of the behavior. Our behaviors system is test by building our simulation and animation programs that reflect online the robot movement using graphical user interface (GUI).

关键词： Intelligent robots Legged locomotion Navigation Mobile robots Robot kinematics Robot sensing systems Control systems Uncertainty Intelligent sensors Intelligent systems

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Experimental Verification of an Advanced Space Teleoperation System Using the Internet

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Journal of robotics and mechatronics 2000年第4期12卷 356-363页

作者： Tsumaki, Yuichi Goshozono, Toshihiko Abe, Koyu Uchiyama, Masaru Koeppe, Ralf Hirzinger, Gerd Department of Aeronautics and Space Engineering Tohoku University Aoba-yama 01 Sendai980-8579 Japan Institute of Robotics and Mechatronics DLR German Aerospace Research Center P.O. Box 1116 Wessling82230 Germany

In our previous work, several system elements for space teleoperation were introduced: a Singularity Consistent (SC) teleoperation system, a mixed force and motion commands based space teleoperation system and a 6-DOF haptic interface. In this paper, we introduce an advanced space teleoperation system that includes all the above elements. As a result, with the good perception for the operator, the system realizes safety against both singularities and excessive force. In addition, to verify the effectiveness of this system, we conducted experiments over the Internet between DLR in Germany and Tohoku University in Japan in January 1999. © 2000, Fuji Technology Press. All rights reserved.

关键词： Haptic interfaces

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A Combined Qualitative/Quantitative Approach for Fault Isolation in Continuous Dynamic Systems

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IFAC Proceedings Volumes 2000年第11期33卷 505-510页

作者： Eric-J. Manders Sriram Narasimhan Gautam Biswas Pieter J. Mosterman Department of Electrical Engineering and Computer Science Vanderbilt University P.O. Box 1679 Sta. B Nashville TN 37235 Institute of Robotics and Mechatronics DLR Oberpfaffenhofen P.O. Box 1116 D-82230 Wessling Germany

The TRANSCEND system for fault detection and isolation in continuous systems uses qualitative reasoning methods to analyze transients caused by abrupt faults. Qualitative transient analysis avoids some of the computational difficulties associated with numerical schemes, but they lack discriminating power. This paper presents the formal basis for qualitative transient analysis, and then establishes the limits of the discriminatory power of this methodology. An integrated scheme that starts with qualitative fault isolation to narrow down possible fault hypotheses, and then uses a focused quantitative parameter estimation scheme to identify the true fault is developed. This approach provides a number of advantages over purely quantitative FDI schemes.

关键词： Fault detection isolation monitoring qualitative analysis transient analysis parameter estimation

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SHAPE MEMORY ALLOY ACTUATED ROBOT PROTHESES: INITIAL PROTOTYPES

SHAPE MEMORY ALLOY ACTUATED ROBOT PROTHESES: INITIAL PROTOTY...

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ASME 1999 International Mechanical engineering Congress and Exposition, IMECE 1999

作者： Pfeiffer, Charles Mavroidis, Constantinos Delaurentis, Kathryn Mosley, Mike Robotics and Mechatronics Laboratory Mechanical and Aerospace Engineering Department Rutgers University The State University of New Jersey 98 Brett Road PiscatawayNJ08854 United States

ISBN: (纸本)9780791816400

This paper describes the goals and current accomplishments of this research. The main thrust of this effort is to design artificial limbs that are lightweight, compact and dexterous, that mimic human anatomy and maintain a high lifting capability. The key to satisfying these objectives is the use of Shape Memory Alloy (SMA) artificial muscles as actuators. A general methodology to find the placement of SMA wires to achieve desired ranges of motion is presented. Three experimental prototypes, emulating human skeletal structures that are actuated by SMA artificial muscles are described in detail. It is expected that upper extremity amputees will greatly benefit from the commercialization of the novel robot prosthetic devices that will be developed in this research. These lightweight prostheses with high lifting capabilities, force-reflective characteristics and multidegree of freedom dexterity will tremendously improve the capabilities of amputees and therefore will attract their interest. In addition, our SMA actuated robotic devices can find other commercial applications. Of special interest to our team are two other commercial applications: space robotic systems and robot toys. © 1999 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Shape memory effect

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Design and implementation of an intelligent remote centre compliance (IRCC) for state of the art process control and self optimisation

Design and implementation of an intelligent remote centre co...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： G. Bright C. Deubler Department of Mechatronics and Robotics Mechanical Engineering University of Natal Durban South Africa

An intelligent remote centre compliance (IRCC), has been built to develop a self-teaching robot that is capable of managing and improving the efficiency of assembly operations. Robots are now commonplace in the modern manufacturing environment, but need to be used to their full capacity in order to be made cost effective. The proposed IRCC is a design tool that analyses operations being performed, using simple industrial electronics, and develops a kinematic model of the process based on this information. This model is used to generate new control routines and reduce the complexity of the required task. The IRCC system is also used to design a 'task optimised compliance', specifically designed to further maximise the efficiency of a particular task. By introducing this self-awareness it is possible to upgrade a simple robot to a state of the art learning machine. This paper details the design of such an IRCC system.

关键词： Intelligent robots Robotic assembly Service robots Manufacturing Costs Information analysis Performance analysis Industrial electronics Kinematics Design optimization

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A prototype Internet experiment system for control engineering

A prototype Internet experiment system for control engineeri...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Y. Ohyama Jin-Hua She K. Watanabe Mechatronics Department School of Engineering Tokyo University of Technology Hachioji Tokyo Japan NEC Robotics Engineering Limited Yokohama Kanagawa Japan

This paper describes an Internet experiment system for control engineering that is comprised of an experiment system and a computer-aided teaching system. The experiment system was set up in a laboratory and connected to the Internet so that students could do experiments on their own personal computers anywhere anytime. The computer-aided teaching system was implemented by building a database on a server to which students had free access, and which they could then use to store and share information on their experiments.

关键词： Prototypes Internet Control engineering Education Laboratories Design engineering National electric code Databases File servers Web server

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Shape memory alloy actuated robot prostheses: initial experiments

Shape memory alloy actuated robot prostheses: initial experi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C. Pfeiffer K. DeLaurentis C. Mavroidis Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

Describes the objectives of a project, which are to design artificial limbs that are lightweight, compact and dexterous, that mimic human anatomy and maintain a high lifting capability. The key to satisfying these objectives is the use of shape memory alloy (SMA) artificial muscles as actuators. A general methodology to find the placement of SMA wires to achieve desired ranges of motion is presented. Two experimental prototypes, emulating human skeletal structures that are actuated by SMA artificial muscles are described in detail.

关键词： Shape memory alloys Robots Prosthetics Muscles Prototypes Extremities Human anatomy Wires Artificial limbs Force control

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Adaptive force tracking impedance control of robot for cutting nonhomogeneous workpiece

Adaptive force tracking impedance control of robot for cutti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics & Computational Intelligence Laboratory(ROCIL) Department of Mechatronics Engineering Chungnam National University Taejon South Korea Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

This paper presents the feasibility study of an adaptive impedance force control application to deburring/milling process. The proposed control regulates desired force on nonhomogeneous workpiece in regardless of unknown location and stiffness of the workpiece. The adaptive technique of minimizing the force error between the desired and the actual force is used to compensate for uncertainties in unknown workpiece. Effect of selecting the impedance damping gain with different workpiece stiffness on force tracking is analytically determined. Analyzing the stability of the proposed adaptive force control yields the bound of the adaptive gain for stability. Simulation studies of deburring/milling process show the excellent force tracking and confirm stability bound for stable force tracking.

关键词： Force control Programmable control Adaptive control Impedance Robot control Deburring Milling Stability analysis Process control Uncertainty

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Formal non-exact analytical modeling of mechanical systems and environmental interactions in an adaptive control

Formal non-exact analytical modeling of mechanical systems a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.K. Tar O.M. Kaynak J.F. Bito I.R. Rudas Department of Information Technology Bánki Donát Polytechnic Budapest Hungary UNESCO Chair of Mechatronics Faculty of Engineering Bogaziçi University Istanbul Turkey Centre of Robotics and Automation Bánki Donát Polytechnic Budapest Hungary

On the basis of Lagrangian mechanics uniform structures made of simple and standardized procedures and closed form analytical formulas were previously used to develop an adaptive control for SCARA robots in dynamic interaction with an unmodeled environment. This standardized form contains well defined free parameters by tuning of which the complex effect of the behavior of the controlled system as well as that of the external interactions can be 'imperfectly' modeled and learned. These structures, free parameters and procedures play exactly the same role as that of the traditional artificial neural networks (ANNs) or fuzzy controllers: the structures and the procedures are fit for a wide class of problems more or less similar to each other, while parameter tuning corresponds to learning the concrete properties of a particular element of this wider set. While in the case of the standard soft computing methods there is no reliable a priori information on the number of the concrete elements in the uniform structures, the proposed method has definite indication for this by using the Lie parameters of the orthogonal group. In the initial stage of learning the proposed methods also use a standardized ancillary procedure, a very simple form of regression analysis based controller compensating the remnant errors whenever appropriate. In this paper certain details of the uniform control and parameter-tuning are discussed on the basis of simulation results. It can be concluded that the approach is promising therefore experimental investigations are under preparation.

关键词： Analytical models Mechanical systems Concrete Lagrangian functions Adaptive control Robots Control system synthesis Artificial neural networks Fuzzy control Fuzzy neural networks

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Analysis of nonlinear neural network impedance force control for robot manipulators

Analysis of nonlinear neural network impedance force control...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics and Computational Intelligence Laboratory Department of Mechatronics Engineering Chungnam National University Taejon South Korea Robotics Research Laboratory Department of Electrical and Computer Engineering University of California슠Davis Davis CA USA

A force tracking nonlinear impedance control scheme using a neural network is introduced. Due to the nonlinear characteristics of the proposed control law, stability has been analyzed. The numerical bound of environment position uncertainty for ensuring robot contact with the environment and to perform desired force tracking has been found. Intensive simulation studies with a three link rotary robot manipulator tracking the surface with a desired force are carried out to confirm the boundary solutions of the proposed scheme under no knowledge of environment surface position and environment stiffness.

关键词： Neural networks Impedance Force control Robots Manipulators Iron Orbital robotics Nonlinear equations Uncertainty Nonlinear control systems

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