检索结果-内蒙古大学图书馆

IEEE-RAS International Conference on Humanoid Robots

作者： Ioannis Dadiotis Arturo Laurenzi Nikos Tsagarakis Humanoid and Human-Centered Mechatronics Research Line Italian Institute of Technology Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy

Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation). In the real world, task specifications and/or environment constraints may require the quadruped manipulator to be equipped with high redundancy as well as whole-body motion coordination capabilities. This work presents an experimental evaluation of a whole-body Model Predictive Control (MPC) framework achieving real-time performance on a dual-arm quadruped platform consisting of 37 actuated joints. To the best of our knowledge this is the legged manipulator with the highest number of joints to be controlled with real-time whole-body MPC so far. The computational efficiency of the MPC while considering the full robot kinematics and the centroidal dynamics model builds upon an open-source DDP-variant solver and a state-of-the-art optimal control problem formulation. Differently from previous works on quadruped manipulators, the MPC is directly interfaced with the low-level joint impedance controllers without the need of designing an instantaneous whole-body controller. The feasibility on the real hardware is showcased using the CENTAURO platform for the challenging task of picking a heavy object from the ground. Dynamic stepping (trotting) is also showcased for first time with this robot. The results highlight the potential of replanning with whole-body information in a predictive control loop.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Development of a Fish Robot Equipped with Novel 3D Printed Soft Bending Actuators

Development of a Fish Robot Equipped with Novel 3D Printed S...

引用

IEEE Southeastcon

作者： Steven Steele Jorge Diaz Rodriguez Sharun Sripathy Turaj Ashuri Saleh Gharaie Yusun Chang Amir Ali Amiri Moghadam Dept. of Robotics & Mechatronics Engineering Kennesaw State University Atlanta Georgia Department of Mechanical Engineering Kennesaw State University Atlanta Georgia School of Engineering Faculty of Science Engineering and Built Environment Deakin University Australia

This paper reports on design and fabrication of a novel soft fish robot. Application of soft actuators for the fish tail will generates continuum bending motion which resembles the natural motion of the fish. However, most soft actuator mechanisms are complex and have low efficiency. Thus, to address this issue we have developed a 3D printed soft bending actuator which can be actuated with an electromotor. The basic design idea of the soft bending actuator is explained, and iteration of the design showed to create the desired motion for the soft tail. The soft actuator has been successfully integrated with fish body and it has been shown that the fish can swim.

关键词： Printing Fabrication Actuators Three-dimensional displays Tail Bending Soft robotics

来源：评论

学校读者我要写书评

暂无评论

AgileVision Academy: Indoor Drone Navigation and Obstacle Avoidance

AgileVision Academy: Indoor Drone Navigation and Obstacle Av...

引用

IEEE International Symposium on Information (IT) in Medicine and Education, ITME

作者： Haolong Jiang Lingdan Gu Jiayu Wang Xiao Lan Qinyao Liu Fanxin Wang Department of Electrical and Electronic Engineering School of Advanced Technology Xi’an Jiaotong Liverpool University University of Liverpool Suzhou China Department of Intelligence Robotics Engineering With Contemporary Entrepreneurialism School of Robotics Xi'an Jiaotong Liverpool University Suzhou China Department of Information and Computer Science School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China Department of Electrical and Electronic Engineering School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China Department of Mechatronics and Robotics School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China

ISBN: (数字)9798350356670

ISBN: (纸本)9798350356687

Navigating cluttered indoor environments presents a significant challenge for aerial robots, requiring agility, speed, and a high level of reliability to avoid collisions. This project aims to address this challenge by developing advanced algorithms for lightweight drones, enabling them to reach target location and carrying out delivery efficiently and safely. Utilizing camera data to map and avoid obstacles, we create a system that not only maps and perceives the environment but also navigates its path to the destination. Included in the educational content, this project demonstrates the effectiveness of the technology through practical applications and real-world testing, helping the next generation of engineers accumulate technical experience and broaden their understanding of drone navigation algorithms and applications in system integration. It has a milestone impact on education and development of the drone field.

关键词： Accuracy Navigation Trajectory tracking Heuristic algorithms Education Indoor environment Safety Nonlinear dynamical systems Collision avoidance Drones

来源：评论

学校读者我要写书评

暂无评论

Aircraft wing vibration parameters measurement system using MEMS IMUs and closed-loop optimal correction

引用

Aerospace Systems 2022年第3期5卷 473-480页

作者： Maamo, M.S. Afonin, A.A. Sulakov, A.S. Department of Control Systems Informatics and Power Engineering Moscow Aviation Institute (National Research University) Volokolamskoe shosse 4 Moscow 125993 Russian Federation Faculty of Robotics and Mechatronics Moscow University for Industry and Finance «Synergy» Street Meshchanskaya 9/14 Moscow 129090 Russian Federation

Nowadays, there is still a need for the development of a high-precision measurement system for aircraft structural elements vibrations, this is due to the fact that many aviation problems are associated with analyzing vibration characteristics of aircraft mechanical structures during its main modes of operation, including flight, particularly the airplane wing health monitoring. This paper presents preliminary results of research carried out toward building a promising system designed to measure vibration parameters of airplane wing. Comparing it with the existing analogues systems, the proposed system features the use of approaches that are traditional for solving orientation and navigation problems for vibration measurements. The article discusses the principles of building such system based on micromechanical inertial measurements units, displacement sensors, on-board aircraft navigation system and sensor data fusion technology. The paper provides a brief overview of the existing solutions in this field of research, and substantiates the relevance and feasibility of the proposed technical solution. The paper presents the basic hardware components of the proposed system, presents the fundamentals of its operation based on the data collected from many sources, including displacement sensors, inertial units and the optimal Kalman estimation and correction algorithm. Besides, the paper presents the mathematical errors models of the system main components. The main algorithms of the system are shown, including algorithms for inertial measurements, estimation and correction in a closed-loop scheme for including optimal Kalman filter, and indirect calculations of vibration parameters. Finally, the initial simulation results of system operation are shown, demonstrating its operability and expected accuracy characteristics, which confirms the system effectiveness and the prospects of the chosen direction of research. © 2022, Shanghai Jiao Tong University.

关键词： Airplane wing Closed-loop optimal correction MEMS IMU Navigation and orientation Optimal Kalman filter Sensor data fusion Vibration measurement

来源：评论

学校读者我要写书评

暂无评论

Autonomous Power Supply Development for Hydrometeorological Monitoring Station 7

Autonomous Power Supply Development for Hydrometeorological ...

引用

7th IEEE International Energy Conference, ENERGYCON 2022

作者： Prystupa, Anatoliy Kazymyr, Volodymyr Zabasta, Anatolijs Revko, Anatoliy Stepenko, Serhii Novyk, Kateryna Chernihiv Polytechnic National University Electrical Engineering Information and Measurement Technologies Department Chernihiv Ukraine Chernihiv Polytechnic National University Information and Computer System Department Chernihiv Ukraine Institute of Industrial Electronics and Electrical Engineering Riga Technical University Riga Latvia Chernihiv Polytechnic National University Electronics Automation Robotics and Mechatronics Department Chernihiv Ukraine

ISBN: (纸本)9781665479820

This paper presents the results of the investigation of the power supply system of the autonomous monitoring system. In particular, calculations of the system's daily balance of energy consumption were performed. Also, the question of the influence of the angle of inclination of solar converters on energy generation is considered and the necessity of collecting solar radiation during the whole daylight, not focusing on the maximum amount of energy, is substantiated. This research aimed to develop an algorithm for calculating the power supply system for autonomous monitoring systems. The proposed algorithm takes into account the coordination of diagrams of generation and consumption of energy within the autonomous monitoring station and statistical analysis of information from the NASA website. Experiments have shown the effectiveness of this method. It can be used in future design of power supply systems for autonomous monitoring stations. © 2022 IEEE.

关键词： Electric power systems

来源：评论

学校读者我要写书评

暂无评论

MODELLING OF SURFACE ROUGHNESS IN CO2 LASER ABLATION OF ALUMINIUM-COATED POLYMETHYL METHACRYLATE (PMMA) USING ADAPTIVE NEURO-FUZZY INFERENCE SYSTEM (ANFIS)

MODELLING OF SURFACE ROUGHNESS IN CO2 LASER ABLATION OF ALUM...

引用

ASME 2022 International Mechanical engineering Congress and Exposition, IMECE 2022

作者： Okello, Job Lazarus Fath El-Bab, Ahmed M.R. Yoshino, Masahiko El-Hofy, Hassan A. Hassan, Mohsen A. Industrial and Manufacturing Engineering Department Egypt-Japan University of Science and Technology New Borg El Arab City Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology New Borg El Arab City Egypt Department of Mechanical Engineering Tokyo Institute of Technology Tokyo Japan Material Science and Engineering Department Egypt-Japan University of Science and Technology New Borg El Arab City Egypt

ISBN: (纸本)9780791886649

High surface roughness hinders the flow of fluids in microchannels leading to low accuracy and poor-quality products. In this work, the adaptive neuro-fuzzy inference system (ANFIS) was used to examine surface roughness in CO2 laser fabrication of microchannels on polymethyl methacrylate (PMMA). The PMMA substrates were coated with a 500 nm layer of 99.95% pure aluminium. The inputs were speed (10, 15, and 20 mm/s), power (1.5, 3.0, and 4.5 W), and pulse rate (800, 900, and 1000 pules per inch) while the output was surface roughness. A 3-level full factorial design of experiments was used, and 27 experiments were conducted. Using the gaussian membership function (gaussmf), the ANFIS model was developed using the ANFIS toolbox in MATLAB R2022a. Analysis of variance was performed to examine the significance of the inputs. Power is the most significant followed by speed and pulse rate. The mean relative error (MRE), mean absolute error (MAE), and the correlation coefficient (R) were used to examine the accuracy and viability of the model. MRE, MAE, and R were found to be 0.257, 0.899, and 0.9957 (R2=0.9914) respectively. The root mean square error (RMSE) was 0.0022 and 3.6099 for the training data and checking data respectively. Hence, the developed model can predict the values of the average surface roughness with high accuracy. Copyright © 2022 by ASME.

关键词： Laser ablation

来源：评论

学校读者我要写书评

暂无评论

Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm

Experimental Validation of Functional Iterative Learning Con...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Sjoerd Drost Pietro Pustina Franco Angelini Alessandro De Luca Gerwin Smit Cosimo Della Santina Department of Cognitive Robotics Delft University of Technology Delft Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Department of Information Engineering Research Center “Enrico Piaggio” University of Pisa Pisa Italy Institute of Robotics and Mechatronics German Aerospace Center (DLR) Oberpfaffenhofen Germany

Performing precise, repetitive motions is essential in many robotic and automation systems. Iterative learning control (ILC) allows determining the necessary control command by using a very rough system model to speed up the process. Functional iterative learning control is a novel technique that promises to solve several limitations of classic ILC. It operates by merging the input space into a large functional space, resulting in an over-determined control task in the iteration domain. In this way, it can deal with systems having more outputs than inputs and accelerate the learning process without resorting to model discretizations. However, the framework lacks so far a validation in experiments. This paper aims to provide such experimental validation in the context of robotics. To this end, we designed and built a one-link flexible arm that is actuated by a stepper motor, which makes the development of an accurate model more challenging and the validation closer to the industrial practice. We provide multiple experimental results across several conditions, proving the feasibility of the method in practice.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Novel Pressure and Flow Control Technique for Variable-Rate Precision Agricultural Sprayer 4

A Novel Pressure and Flow Control Technique for Variable-Rat...

引用

4th International Conference on robotics and Automation in Industry, ICRAI 2021

作者： Nasir, Fazal E Alam, Muhammad Shahab Tufail, Muhammad Khan, Muhammad Tahir University of Engineering And Technology Advance Robotics And Automation Laboratory Peshawar Pakistan Institute of Defense Technologies Gebze Technical University Gebze Turkey University of Engineering And Technology Department of Mechatronics Engineering Peshawar Pakistan

ISBN: (纸本)9781665423434

In this paper, a novel pressure and flow control technique is being applied in a variable rate precision agricultural sprayer. The spraying method used is based on variable rate application (VRA) that uses the solenoid valves on the boom in a direct action mode for chemical treatment of the desire plantation only. This procedure needs the solenoid-valve nozzles (SVNs) on the boom to be operated in varying numbers and combinations depending on the available numbers of targets on the go. The control is based on rejecting the disturbance in pressure caused by varying numbers of activated SVNs. Therefore, maintaining a constant pressure on the boom to keep the flow rate and droplet size uniform at each SVN. Two control techniques, Proportional Integral Derivative (PID) and Cascaded Feedback Control are designed and assisted with the SVNs disturbance model for pressure regulation. The estimated disturbance model compensates for the fluctuations in the pressure in the sprayer's boom. The sprayer performance is evaluated with preliminary experimental results for a 6 SVNs boom sprayer. © 2021 IEEE.

关键词： Solenoid valves

来源：评论

学校读者我要写书评

暂无评论

Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism

Design and Validation of Tunable Stiffness Actuator using So...

引用

IEEE International Conference on Soft robotics (RoboSoft)

作者： Seoyeon Ham Brian Byunghyun Kang Kevin Abishek Hyunglae Lee Wansoo Kim Department of Interdisciplinary Robot Engineering Systems Hanyang University Gyeonggi-do Republic of Korea Neuromuscular Control and Human Robotics Lab. Arizona States University AZ USA Department of Intelligent Mechatronics Engineering Sejong University Seoul Republic of Korea Robotics Department Ansan-si Gyeonggi-do Republic of Korea

This paper presents a tunable stiffness actuator with a soft-rigid combined layer jamming mechanism. The tunable stiffness actuator is aimed to be integrated into an exosuit to prevent ankle sprain and avoid or mitigate the development of chronic ankle instability. The main purpose of the soft-rigid layer jamming mechanism is to produce large stiffness with a small volume and achieve a linear stiffness characteristic. To this end, the actuator is designed to include rigid retainer pieces within the soft silicone layers, and each soft-rigid layer is jammed to induce stiffness changes. To validate the stiffness characteristics of the proposed soft-rigid actuator, a series of experiments were performed and stiffness changes were investigated for varying jamming states from unjammed to fully jammed states. Increasing the number of jamming layer effectively increased the actuator stiffness, which was consistent with expected results from the analytical model. Soft-rigid actuator's stiffness at the fully jammed state was 212.1% and 123.1% higher than the unjammed state for one-side and both sides anchored conditions, respectively. Compared to the soft actuator without the rigid retainer, the soft-rigid actuator exhibited a more linear characteristic (Pearson correlation coefficient = 0.990 and 0.997 for one-side and both sides anchored conditions, respectively). Moreover, the soft-rigid actuator achieved significantly higher stiffness than the soft actuator in all jamming states (at least 41.3% increase in each jamming state). The results suggest a potential use of the tunable stiffness actuator to develop a soft ankle exosuit with highly variable but linear stiffness characteristics.

关键词： Correlation coefficient Actuators Analytical models Composite materials Mechanical cables Soft robotics Jamming

来源：评论

学校读者我要写书评

暂无评论

Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

引用

IEEE/CAA Journal of Automatica Sinica 2021年第11期8卷 1817-1826页

作者： Gaofeng Li Dezhen Song Lei Sun Shan Xu Hongpeng Wang Jingtai Liu Nankai University Tianjin 300350China Humanoids and Human Centered Mechatronics Research Line Italian Institute of Technology16163 GenovaItaly Department of Computer Science and Engineering Texas A&M UniversityCollege StationTexas 77843 USA Institute of Robotics and Automatic Information System Nankai UniversityTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China

To balance the contradiction between higher flexibility and heavier load bearing capacity,we present a novel deformable manipulator which is composed of active rigid joints and deformable *** deformable link is composed of passive spherical joints with preload forces between socket-ball *** estimate the load bearing capacity of a deformable link,we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable *** yields an important result that the load bearing capacity of a spherical joint only depends on its radius,preload force,and static friction *** further develop a parameter estimation method to estimate the product of preload force and static friction *** experimental results validate our model.80.4%of percentage errors on the maximum payload mass prediction are below 15%.

关键词： Deformable link parameters identification spherical joint with preload force static force-based model

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：