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International Symposium for Design and Technology of Electronics Packages (SIITME)

作者： Lidia Cristina Bazavan Horatiu Roibu Daniela Coman Stefan Irinel Cismaru Anca Petrisor Nicu George Bizdoaca Mechatronics and Robotics Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania Engineering and Management of the Technological Systems Department Faculty of Mechanics University of Craiova Craiova Romania Electrical Energy and Aerospace Engineering Department Faculty of Electrical Engineering University of Craiova Craiova Romania

Designing for rapid maintenance requires an approach whereby the replacement of rapidly wearing sub-assemblies can be easily replaced while ensuring that the degree of wear can be tracked in real-time if possible. The redesign of the movement system of the Virtusfera platform by the authors previously led to an omnidirectional platform with increased integration facilities in virtual environments. The article presents two solutions for redesigning some subsystems that make up the new experimentally validated solution, presenting at the same time the study based on which the subsystems with the lowest reliability were identified and a proposal for a real-time tracking solution for those subsystems. Numerical simulations of the two solutions are presented, and conclusions and directions are formulated regarding the practical implementation of these subsystems based on the concept of design based on rapid maintenance.

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Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped

arXiv

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arXiv 2023年

作者： Dadiotis, Ioannis Laurenzi, Arturo Tsagarakis, Nikos Humanoid and Human-Centered Mechatronics Research Line Italian Institute of Technology Genoa16163 Italy The Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa16145 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. Copyright © 2023, The Authors. All rights reserved.

关键词： Model predictive control

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Research of Control Systems for Robotic Spatial Planning Platforms 4

Research of Control Systems for Robotic Spatial Planning Pla...

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4th IEEE International Conference on Modern Electrical and Energy System, MEES 2022

作者： Lebedenko, Yurii Polyvoda, Oksana Derkachenko, Anatolii Modlo, Yevhenii Demishonkova, Svitlana Pylypenko, Yurii Kyiv National University of Technologies and Design Information and Computer Technologies Department Kyiv Ukraine Kherson National Technical University Automation Robotics and Mechatronics Department Kherson Ukraine Technological Institute State University of Economics and Technology Kryvyi Rih Ukraine Kyiv National University of Technologies and Design Department of Computer Engineering and Electromechanics Kyiv Ukraine

ISBN: (纸本)9798350346831

The work is devoted to the study of the control system of the moving platform of the manipulative robot. The purpose of the work is the development and research of an instrumental complex of control, analysis and modeling of the operation of positioning platforms based on a spherical mechanism for use in automated industrial systems. The state of use of multi-link positioning platforms in various industries was analyzed and their classification was provided, the main areas of use were determined. A comparative analysis of mathematical methods for describing the kinematic properties of positioning platforms was performed, namely: the closed vector contour method, the coordinate transformation method. A model with an analytical apparatus for controlling the drive links of the spherical mechanism according to the given scenarios of the orientation of the positioning platform was developed, as well as a mathematical model of inverse kinematics was made, the working space was modeled, and the service angles were determined, and a calculation and real-life experiment was conducted. For the first time, the work uses the dependencies of analytical geometry to implement algorithms for controlling a spherical mechanism by inverse kinematics, and offers software and hardware that combines visual modeling tools with real-time data transmission to a controller that controls the drivers of a spherical mechanism by direct kinematics. The result of the field experiment is the testing of the proposed control algorithm on the manufactured manipulator mechanism on the most common movements of the platform of the spherical mechanism and its exit to the extreme positions in order to determine the working space and the values of the service angles. A system of remote control of the spherical mechanism at the hardware level with an interactive interface and tracking of the positioning target has been implemented. © 2022 IEEE.

关键词： Inverse kinematics

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Development of a Lower Limb Gait Asymmetry Index with Cyclogram Analysis Using Image Processing

Development of a Lower Limb Gait Asymmetry Index with Cyclog...

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RSI/ISM International Conference on robotics and mechatronics (ICROM)

作者： Sepideh Etaati Fatemeh Javaherat Mehdi Delrobaei Department of Mechatronics Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Advanced Robotics and Automated Systems lab. Faculty of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Ahstract- This study focuses on developing a gait asymmetry index and applying image processing techniques to cyclogram analysis. We evaluated gait asymmetry under different walking conditions, specifically examining the effects of wearing a knee brace and holding a weight in hand. Using inertial measurement units (IMUs), we collected gait data to analyze knee, hip, and ankle angles in the sagittal plane. The joint kinematics data were assessed using our proposed asymmetry index, which combines image processing techniques and linear regression models. The proposed asymmetry index incorporates cyclogram area, trend symmetry, and the longest length of the cyclogram shape, effectively capturing variations in symmetry and providing a comprehensive measure. The results demonstrate that the proposed asymmetry index can effectively distinguish between different gait conditions. The findings potentially offer insights for researchers and clinicians in human biomechanics, aiding in the planning of interventions and the assessment of motion patterns, as well as for developers of bipedal walking robots in the field of robotic locomotion, enhancing their ability to design hardware and evaluate motion patterns.

关键词： Legged locomotion Knee Biomechanics Limbs Shape Image processing Market research Indexes Robots Hip

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Prototype of Turbine Propulsion System with Controllable Thrust Vector for Long-Range Unmanned VTOL Aircraft 21st

Prototype of Turbine Propulsion System with Controllable Thr...

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21st Polish Control Conference, PCC 2023

作者： Czyba, Roman Lemanowicz, Marcin Domin, Jaroslaw Grzybowski, Jacek Stępień, Izabela Ungier, Lukasz Rosiek, Radoslaw Bialas, Piotr Niemiec, Michal Department of Automatic Control and Robotics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland Department of Chemical Engineering and Process Design Faculty of Chemistry Silesian University of Technology ul. Ks. M. Strzody 7 Gliwice44-100 Poland Department of Mechatronics Faculty of Electrical Engineering Silesian University of Technology ul. Akademicka 10a Gliwice44-100 Poland

ISBN: (纸本)9783031351723

The aim of the project was to build a prototype of a turbine drive with a controllable thrust vector for a long-range vertical take-off and landing (VTOL) aircraft. The construction of the prototype required the development of a vectoring system for the tail propulsion system and a dedicated VTOL aircraft stabilization and control system. The prototype of the turbine drive system was based on energy-efficient electric motors. Research also involved modeling the turbine propulsion aerodynamics with usage of computational fluid dynamics (CFD) analysis. As a result of the design stage, a prototype of the propulsion system was created, on which flight tests were carried out. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computational fluid dynamics

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Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control

Differentiable Compliant Contact Primitives for Estimation a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kevin Haninger Kangwagye Samuel Filippo Rozzi Sehoon Oh Loris Roveda Department of Automation Fraunhofer IPK Berlin Germany Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence Technical University Munich (TUM) Munich Germany Department of Mechanical Engineering Politecnico di Milano Milano Italy Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Istituto Dalle Molle di Studi Sull’Intelligenza Artificiale (IDSIA) Scuola Universitaria Professionale Della Svizzera Italiana (SUPSI) Università Della Svizzera Italiana (USI) IDSIA-SUPSI Lugano Switzerland

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is often extracted from CAD, limiting scalability and the ability to handle tasks with varying geometry. To reduce the need for a priori models, we propose a framework for estimating contact models online based on torque and position measurements. To do this, compliant contact models are used, connected in parallel to model multi-point contact and constraints such as a hinge. They are parameterized to be differentiable with respect to all of their parameters (rest position, stiffness, contact location), allowing the coupled robot/environment dynamics to be linearized or efficiently used in gradient-based optimization. These models are then applied for: offline gradient-based parameter fitting, online estimation via an extended Kalman filter, and online gradient-based MPC. The proposed approach is validated on two robots, showing the efficacy of sensorless contact estimation and the effects of online estimation on MPC performance. Video results can be seen at https://***/CuCTcmn3H-o.

关键词： Geometry Solid modeling Torque Uncertainty Scalability Fitting Estimation

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A human heartbeat frequencies based 2-DOF piezoelectric energy harvester for pacemaker application

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Energy Harvesting and Systems 2021年第1期8卷 1-11页

作者： Mayekol Mayck, Hygin Davidson Fath El-Bab, Ahmed Mohamed Rashad Murimi, Evan Moukala Mpele, Pierre Department of Mechatronic Engineering Pan African University Institute of Basic Sciences Technology and Innovation Nairobi Kenya Department of Mechatronics and Robotics Egypt-Japan University of Science and Technology Alexandria New Borg El-Arab Egypt Department of Mechatronic Engineering Jomo Kenyatta University of Agriculture and Technology Nairobi Kenya Department of Electrical Engineering Pan African University Institute of Basic Sciences Technology and Innovation Nairobi Kenya

In the last decade, piezoelectric energy harvesters have received a significant attention from the scientific community. This comes along with the need of developing self-powered devices such as medical implant to reduce the cost and risk of surgery. This paper investigates a two degree of freedom (2-DOF) piezoelectric energy harvester device to be integrated into a pacemaker. The 2-DOF is designed as a cut-out beam with a secondary beam cut into a primary one. The system is developed to operate in the frequency range of 0-2 Hz, with an acceleration of 1 g (9.8 m/s2) to match the heartbeat frequencies (1-1.67 Hz). The system uses a Lead Zirconate Titanate (PZT) and a Poly Methyl Methacrylate (PMMA) as lead beam to compensate the brittleness of PZT. COMSOL Multiphysics software is used to model and analyze the resonant frequencies of the system, and the stress in the piezoelectric beam. The proposed device has a compact volume of 26 × 11.58 × 0.41 mm, which can fit perfectly in a pacemaker whose battery volume has been reduced by 50%. The output voltage and power are determined through analytical calculus using Matlab. Typical pacemakers require 1 μW to operate. Thus, with a peak power of 30.97 μW at 1.5 Hz and an average output power of 11.05 μW observed from 0.9 to 1.7 Hz, the harvester can power a pacemaker. It is assumed that the energy harvester could extend its life time for 5-10 more years. Furthermore, the harvester operates at extremely low frequency and produces reasonable power, making it suitable for biomedical devices. © 2021 Walter de Gruyter GmbH, Berlin/Boston.

关键词： 2-DOF human heartbeat frequencies pacemaker piezoelectric energy harvesting

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Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint

Comparison of Control Strategies to Excite Intrinsic Oscilla...

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European Control Conference (ECC)

作者： Annika Schmidt Filip Pasic Davide Calzolari Arne Sachtler Thomas Gumpert Manuel Keppler Alin Albu-Schäffer TUM School of Computation Information and Technology Technical University of Munich Garching Germany German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany Department of Electrical Engineering and Information Technology University of Applied Sciences Munich Germany

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

During the execution of periodic motions, such as locomotion, animals exploit the elasticity in their body to increase efficiency. Adding elasticity in robotic systems, e.g., through a Series Elastic Actuator (SEA), enables to mimic this biological solution by storing energy in the spring. The standard strategy to efficiently drive such systems in periodic motions is to assume the motor static such that the SEA behaves like a single-mass-spring system, excited at its natural frequency. However, when regarding the SEA as a two-mass- spring system, we can derive another control strategy to excite periodic oscillations, where the motor and link inertia exhibit anti-phasic oscillations. This paper compares these two control strategies on a hardware SEA test bed regarding performance metrics such as maximal input torque and electrical power consumption. The control objective for this comparison is to excite a link oscillation with a desired amplitude, as could be needed for a pick-and-place task. We find that less current is needed for the given task and hardware for the first control strategy. The second strategy causes more friction that needs compensation but also increases stored system energy for the desired amplitude. When adding motor inertia shaping to this second strategy, we find a flexible controller that can shift the system to either behave like a single- or two-mass-spring system. Thus, we propose a promising control approach that can adapt system behavior to best suit a given oscillatory task.

关键词： Power demand Torque Friction Elasticity Motors Hardware Task analysis

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Stabilization of Driving Velocity Constraints for Self-balanced Robot

Stabilization of Driving Velocity Constraints for Self-balan...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Ibrahim Abdel-Hady Mona A. Bayoumi Nader A. Mansour Ayman A. Nada Benha Faculty of Engineering Benha University Benha Egypt New Administrative Capital Egypt University of Informatics (EUI) Cairo Egypt Department of Robotics and Mechatronics Egypt-Japan University of Science and Technology E-JUST Alexandria Egypt

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

Non-holonomic constraints impose restrictions on the allowable velocities or motions of the system. These constraints may arise from physical interactions or mechanical limitations. Stabilizing constraints in a non-holonomic multibody system often involves employing numerical methods due to the complexity of the constraints and the dynamic nature of the system. Moreover, for self-balancing robots, driving constraints may be introduced to the system in the velocity level, and proper management of these constraints is crucial in the design and analysis of mechanisms, vehicles, robotics, and other complex systems. In this paper, we present an approach for stabilizing the driving velocity constraints, along with other holonomic and non-holonomic constraints, of a self-balanced robot. The proposed approach is intended for use in the numerical integration process of the Differential Algebraic Equations of multibody system dynamics, and not for real-time control. Successful numerical integration enables the calculation of driving forces in an open-loop manner. The paper proves that fuzzy logic control can be utilized effectively for driving constraints stabilization at the velocity level.

关键词： Fuzzy logic System dynamics Differential algebraic equations Process control Real-time systems Stability analysis Vehicle dynamics Complex systems Robots Numerical stability

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Methodology of Low Orbit Satellites Signal Processing in the Electromagnetically Noisy Environment

Methodology of Low Orbit Satellites Signal Processing in the...

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Electrical, Electronic and Information Sciences (eStream), Open Conference of

作者： Viktor Masalskyi Vytautas Bučinskas Andrius Dzedzickis Aramais Tyshchenko Oleksandr Masalskyi Dept. of Mechatronics Robotics and Digital Manufacturing Vilnius Gediminas Technical University Vilnius Lithuania Department of Engineering University of Warwick Coventry UK Department of Physics Vilnius Gediminas Technical University Vilnius Lithuania

This paper dedicated to the problematics of low orbit satellite data acquisition and processing. Efforts to improve the quality and reliability of receiving these signals in a noisy electromagnetic environment presented here as theoretical and practical solution. Paper defines the requirements for equipment, provides definition of required parameters and delivers experimental tests methodology and obtained results. The experimental results deliver a hope for reliable reception; there are necessary to use a receiver with a dynamic range of at least 70 dB. Test environment was performed on the campus of the university, where located near antennas of high power FM transmitters, digital television and other communication services. Solutions for signal acquisition in the mentioned environment described as means to improve the quality and reliability of reception. Here provided number of technological improvements performed in configuration of the receiving station: implemented high precision angle sensors, a low-noise amplifier, a high-gain antenna and RF filters. Proposed to use a complex filtering stage consisting of three filters: band pass, notch and high-pass filter. To compensate for receiver noise and losses in the antenna-feeder path, a low-noise amplifier installed nearby the antenna. The obtained test results confirmed efficiency of the receiving station upgrade. Finally, paper delivers some conclusions.

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