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检索条件"机构=Mechatronics and Robotics Engineering Dept."

共 145 条记录，以下是91-100 订阅

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An Intelligent Q-Parameterization Control Design that Captures Non-linearity and Fuzziness of Uncertain Magnetic Bearing System

An Intelligent Q-Parameterization Control Design that Captur...

引用

Conference on Control Applications

作者： M. Fekry Abdelfatah M. Mohamed M. Fanni Dept. of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (纸本)9781479977970

This paper presents a systematic procedure to design a robust gain scheduled Q-parametrization Takagi-Sugeno (TS) fuzzy controller for non-linear magnetic bearing system with imbalance. First, a mathematical model of non-linear magnetic bearing model is presented. Second, the system is linearized around various operating points to overcome the model non-linearity by increasing the operating envelop. Third, the Qparametrization observer based stabilizing controller with TS fuzzy systems is explained which combines both the intelligence of fuzzy systems and robustness of Q-parametrization. Forth, the proposed controller is applied to a non-linear magnetic bearing system. Finally, the simulation results are presented. The results manifest the ability of proposed controller to overcome the model non-linearity by increasing the dynamic operating range up-to more than 80% of gap length and reject imbalance disturbances under different speeds.

关键词： increasing operating overcome

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Fusion of Thermal and dept. Images for Occlusion Handling for Human Detection from Mobile Robot

Fusion of Thermal and Depth Images for Occlusion Handling fo...

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Asian Control Conference

作者： H. S. Hadi M. Rosbi U. U. Sheikh S. H. M. Amin Dept. of Mechatronics and Robotics Universiti Teknologi Malaysia UTM Dept. of Electronic and Computer Engineering Universiti Teknologi Malaysia UTM

ISBN: (纸本)9781479978632

In this paper we present a vision-based approach to detect multiple persons from a mobile robot in real world scenarios using thermal and dept. images. First, human upper-body is detected from thermal image to obtain the bounding box coordinates (BBC). This is used as an initial estimate of the position of a person. Then, dept. image is fused with the region of interest obtained from the thermal image. Occlusion detection is then performed using the BBC to obtain the actual position of detected persons. The proposed method is able to detect persons and is able to resolve occlusions during the detection process to correctly obtain all the persons in the view.

关键词： Robot vision Thermal images dept. images Image fusion

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dept.-based tracking with physical constraints for robot manipulation

Depth-based tracking with physical constraints for robot man...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tanner Schmidt Katharina Hertkorn Richard Newcombe Zoltan Marton Michael Suppa Dieter Fox Dept. of Computer Science & Engineering University of Washington Seattle USA Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

This work integrates visual and physical constraints to perform real-time dept.-only tracking of articulated objects, with a focus on tracking a robot's manipulators and manipulation targets in realistic scenarios. As such, we extend DART, an existing visual articulated object tracker, to additionally avoid interpenetration of multiple interacting objects, and to make use of contact information collected via torque sensors or touch sensors. To achieve greater stability, the tracker uses a switching model to detect when an object is stationary relative to the table or relative to the palm and then uses information from multiple frames to converge to an accurate and stable estimate. Deviation from stable states is detected in order to remain robust to failed grasps and dropped objects. The tracker is integrated into a shared autonomy system in which it provides state estimates used by a grasp planner and the controller of two anthropomorphic hands. We demonstrate the advantages and performance of the tracking system in simulation and on a real robot. Qualitative results are also provided for a number of challenging manipulations that are made possible by the speed, accuracy, and stability of the tracking system.

关键词： Visualization Joints Robot sensing systems Cameras Calibration

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Versatile climbing robot for vessels inspection

Versatile climbing robot for vessels inspection

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International Conference on Control, Automation and robotics (ICCAR)

作者： Mohamed G. Alkalla Mohamed A. Fanni Abdel-Fatah Mohamed Prod. Eng. Mechanical Design Dept. Mansoura University Egypt Mechatronics and Robotics Engineering Dept. Egypt-Japan University of Science and Technology (E-JUST) Alexandria Egypt Electrical Engineering Department Assiut University Egypt

This work focuses on proposing and designing a new climbing robot to explore the interiors of industrial vessels and enables a human outside the vessels to implement required regular inspection tasks efficiently. There are two main adhesion systems in the literature: magnetic and air suction systems. The magnetic system climbs surfaces made of ferromagnetic materials only, while air suction system cannot handle irregular surfaces due to possible seals damage. Opposite to previous climbing robots, the proposed robot here can climb and navigate vessels made from different materials besides handling possible irregular surfaces during inspection. Its main task is visual inspection of welds and any critical spots inside these vessels. The novelty of this robot comes from utilizing a hybrid actuation system. This hybrid actuation system consists of upturned propellers fixed on mobile robot and motorized wheels of the mobile robot. The pressure generated from the upturned propellers increase the friction force between the wheels of the mobile robot and the wall. The wheels' motors generate the required torque either to fix the robot in any position or to move it to any place. Since the motion of the robot comes mainly from the motorized wheel, the stability of the system during navigation is guaranteed. Size and topology optimizations are carried out to achieve optimum design of the proposed robot. Simulation results of the designed robot using ADAMS software prove its feasibility.

关键词： Wheels Propellers Force Climbing robots Optimization

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Versatile Intelligent Portable Robot Platform for flexible robotic cells with AGV

Versatile Intelligent Portable Robot Platform for flexible r...

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International Conference on Advanced Mechatronic Systems, ICAMechS 2015

作者： Vladareanu, Luige Spirleanu, Cristian Iliescu, Mihaiela Yu, Hongnian Deng, Mingcong Guo, Weizhong Gao, Feng Romanian Academy Institute of Solid Mechanics of Romanian Academy IMSAR Dept. Robotics and Mechatronics Bucharest Romania School of Design Engineering and Computing Bournemouth University DorsetBH12 5BB United Kingdom Graduate School of Engineering Tokyo University of Agriculture and Technology 2-24-16 Nakacho Koganei Tokyo184-8588 Japan School of Mechanical Engineering Shanghai Jiao Tong University Dongchuan Road Shanghai China

ISBN: (纸本)9781467379960

The paper studies the flexible robotic cells in cooperation with automated guided vehicle (AGV), in the presence of obstacles, at constant or variable speed and variable load, aiming to optimizing the interaction between AGV and flexible robotic cell components. Overall system performance is analyzed by using modeling tools for discrete event systems like Generalized Stochastic Petri Net (GSPN). The interaction between AGV and flexible robotic cell components is implemented through communication messages using serial data received from an optical XY encoder, communication protocol receive function is modeled with GSPN. Improving of the stability performances and real time motion control are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results, validated on the experimental RTOS robotic platform and DMQX language extension for robotic applications, lead to higher performance in relation to interaction optimization, decrease the flexible cell's cycle time, increase mobility and stability of the AGV and also the development of new technological capabilities of the control systems. © 2015 IEEE.

关键词： Discrete event simulation

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A novel propeller-type climbing robot for vessels inspection

A novel propeller-type climbing robot for vessels inspection

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

作者： Mohamed G. Alkalla Mohamed A. Fanni Abdelfatah M. Mohamed Production Eng. and Mechanical Design Dept. Mansoura University Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Electrical Engineering Department Assiut University Egypt

This paper is proposing and designing a novel propeller-type climbing robot for exploring the interiors of industrial vessels and enables a human outside it to implement required regular inspection tasks efficiently. There are two main adhesion systems in the literature: magnetic and air suction systems. The magnetic system climbs surfaces made of ferromagnetic materials only, while air suction system can handle neither irregular surfaces due to possible seal damage nor cylindrical surfaces. Opposite to previous climbing robots, the proposed robot here can climb and navigate vessels made from different materials besides handling possible irregular or cylindrical surfaces. Its main task is visual inspection of welds and any critical spots inside these vessels. The novelty of this robot comes from utilizing a hybrid actuation system consists of upturned propellers fixed on mobile robot with motorized wheels. The pressure generated from the upturned propellers increases the friction force between the wheels of the mobile robot and the wall. The wheels' motors generate the required torque either to fix the robot at any position or to move it to any place. Since the motion of the robot comes mainly from the motorized wheel, the stability of the system during navigation is guaranteed. Simulation and control results of the designed robot using ADAMS and Matlab softwares prove the success and feasibility of the robot concept.

关键词： Wheels Climbing robots Propellers Force Optimization

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Design and Control of a Novel Contactless Active Robotic Joint Using AMB

Design and Control of a Novel Contactless Active Robotic Joi...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Mohamed Selmy Mohamed Fanni Abdelfatah M. Mohamed Faculty of Engineering at Shoubra Benha University Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept. Mansoura University Egypt Electrical Engineering Department Assiut University Egypt

This paper investigates the design, modelling and control of a novel contactless active robotic joint using active magnetic bearing (AMB). A robot with such contactless joint avoids dust generation, oil lubrication and friction. This makes such robot suitable for applications in extreme clean environments such as clean rooms, vacuums chambers and surgery rooms. Also, such joint can be used in space robots, self-reconfiguration robots and robots with selective compliance. Opposite to the passive joint with AMB that needs the control of 5-DOFs, the proposed active robotic joint here needs the control of 6-DOFs. The additional variable to be controlled is the robot joint angle. Frameless, brushless, direct drive, high torque DC motor (BLDC) is used to control the robot joint angle. A contactless sensor for robot joint angle measurement is proposed. The mutual interaction between the control of the BLDC motor and the AMB is studied. Although in this paper tracking control of the rotor roll angle (robot joint angle) and the stabilization of the other 5-DOFs to their null values are carried out, it is possible to carry out tracking control of all the 6-DOFs. This leads to enlarge the mobility of the joint from 1-DOF to 6-DOFs. The proposed system is designed and simulated using CATIA and MATLAB/SIMULINK software. The results prove the feasibility of the proposed robotic joint from design and control view points.

关键词： Joints Rotors Robot sensing systems Payloads Brushless DC motors

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Design, Modeling and Simulation of a Micro Tactile Sensor for Soft Tissue Stiffness Measurement with Three Tips Configuration

Design, Modeling and Simulation of a Micro Tactile Sensor fo...

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International Conference on Computational Intelligence, Modelling and Simulation (CSSIM)

作者： Ahmed Fouly Mohamed N. A. Nasr Ahmed M. R. Fath El Bab A. A. Abouelsoud Mechatronics and Robotics Engineering Department Department of Mechanical Engineering Alexandria University Egypt Material Science and Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Department of Mechanical Engineering Assiut University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt

ISBN: (纸本)9781467380843

Artificial tactile feedback systems is now emerging as an essential part in laparoscopic surgeries. This paper presents a new structure for a micro tactile sensor, whose output does not depend on the applied pushing distance or the contact angle with the tissue. The sensor structure is based on using three silicon cantilevers in one plane, acting as three springs with different stiffness, which are protected by square PDMS diaphragms. A detailed design has been executed to achieve high sensitivity and linearity. A finite element simulation was implemented to validate the design and sensor performance. Different values have been assigned to the tissue Young's modulus (up to 1 MPa) covering different organisms. The results show that the sensor can differentiate between different types of tissues based on their modulus of elasticity. The sensor output was demonstrated to be independent of neither the pushing distance nor the contact angle up to (±3 degree). The error of the mean value of output due to the inclination angle did not exceed 3.5%.

关键词： Biological tissues Springs Tactile sensors Force Finite element analysis Young's modulus

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Versatile Intelligent Portable Robot Platform for flexible robotic cells with AGV

Versatile Intelligent Portable Robot Platform for flexible r...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Luige Vladareanu Cristian Spirleanu Mihaiela Iliescu Hongnian Yu Mingcong Deng Weizhong Guo Feng Gao Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy IMSAR Bucharest Romania The Graduate School of Engineering Tokyo University of Agriculture and Technology Tokyo Japan School of Design Engineering and Computing Bournemouth University UK School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

关键词： Decision support systems Silicon mechatronics Intelligent control Real-time systems Robot control Vehicles

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A novel intention prediction strategy for a shared control tele-manipulation system in unknown environments

A novel intention prediction strategy for a shared control t...

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International Conference on mechatronics (ICM)

作者： Haitham El-Hussieny Samy F. M. Assal A. A. Abouelsoud Said M. Megahed Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology (E-JUST) Egypt Department of Production Engineering and Mechanical Design Tanta University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt Mechanical Design and Production Engineering Department Cairo University Egypt

This paper addresses the problem of controlling a slave robot with a shared control scheme of a tele-manipulation system in unknown environments. Shared control schemes may be useful for reducing the communication delay in time-critical tele-manipulation systems. Shared control scheme consists of two key components: intention prediction and command arbitration. An intuitive and novel strategy under which the human operator intention could be extracted seamlessly from the hand point to point path during the tele-manipulation process is developed in this paper. The new strategy is based on the environment scene awareness conducted at the remote side at the beginning of the tele-manipulation task. The developed strategy is tested experimentally with a simulation of a robot model in several remote environments to verify its accuracy and effectiveness. The results confirmed significant performance improvement in terms of reduced time using the proposed shared control scheme compared to the direct tele-manipulation scheme.

关键词： Manipulators Trajectory Service robots Accuracy Master-slave Three-dimensional displays

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