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International Conference on Electrical, Control and Computer engineering

作者： Ibrahim, B.S.K.K. Tokhi, M.O. Huq, M.S. Gharooni, S.C. Dept. of Mechatronics and Robotics Faculty of Electrical and Electronic Engineering University Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781612842288

FES induced movement control is a significantly challenging area due to complexity and non-linearity of musculo-skeletal system. The goal of this study is to design a cycle-to-cycle control of FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated by controlling the amount of stimulation pulsewidth. This time dependent behaviour is successfully compensated for using a cycle-to cycle fuzzy controller, which computes the amount of knee extension stimulation on the basis of the achieved flexion angle in previous cycles. The capability of fuzzy control in automatic generation of stimulation burst duration is assessed in computer simulations using a musculo-skeletal model. This paper presents the development of a fuzzy logic control scheme based on discrete-time cycle to cycle control strategies without predefined trajectory. The results show the effectiveness of the approach in controlling FES-induced swinging motion. © 2011 IEEE.

关键词： Genetic algorithms

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Identification of time-variant systems using wavelet analysis of force and acceleration response signals 4

Identification of time-variant systems using wavelet analysi...

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4th International Operational Modal Analysis Conference, IOMAC 2011

作者： Xu, X. Staszewski, W.J. Xu, X. Shi, Z.Y. Fassois, S. Department of Mechanical Engineering University of Sheffield Sheffield United Kingdom Dept. of Robotics and Mechatronics AGH University of Science and Technology Krakow Poland College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Department of Mechanical and Aeronautical Engineering University of Patras Patras Greece

ISBN: (纸本)9781632668530

The identification of dynamic parameters is of prime importance in vibration analysis. A number of different time and frequency domain methods have been developed for vibration analysis of time-invariant systems. However, many engineering systems exhibit time-variant behavior. This paper presents a simulation example of a time-variant approach used for parameter identification in a simple vibration system with time-varying mass characteristics, which is a steel beam traversed by a mass travelling at constant velocity. Force excitation and acceleration response signals are analysed to reveal time-varying nature of the system. Wavelet analysis is used for system identification. The method is based on a recently developed direct identifica-tion algorithm. Copyright © (2011) by International Operational Modal Analysis Conference (IOMAC) All rights reserved.

关键词： Wavelet analysis

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Time-optimal motion planning for robots

Time-optimal motion planning for robots

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Somló, János Molnár, József Óbuda University Knowledge Centre of Robotics Budapest Hungary Budapest University of Technology and Economics Dept. Mechatronics Optics and Mechanical Engineering Informatics Hungary

ISBN: (纸本)9781424468867

At the practical application of robots, the part processing time has a key role. The part processing time is an idea borrowed from manufacturing technology. In robotics it mostly means that the robots tool-centre point should go along some given path and the tool orientation in every point should also have the given values. These two requirements have to be satisfied at the same time. In the present paper we propose a method which provides the motion in every point of the path with the possible maximum velocity. In fact, we divide the path to transient and cruising parts and require the maximum velocities only for this second part. The given motion is called "Timeoptimal cruising motion". We demonstrate on an example the simplicity of the approach. Using the parametric method of motion planning, we give the equations for determining time-optimal motions. Not only the translation motions of tool-centre points but, also the orientation motions of too lsmay be optimally planned. The time-optimal motion planning is also possible for free paths (PTP motions). A general approach for this problem is proposed, too. In the paper, some parts are devoted to the deeper understanding of the optimization problems. © 2010 IEEE.

关键词： Motion planning

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Robotic manipulation and control for micro and nano mechatronics

Robotic manipulation and control for micro and nano mechatro...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Fukuda, Toshio Nakajima, Masahiro Ahmad, Mohd Ridzuan Shen, Yajing Nogawa, Kousuke Kojima, Masaru Dept. of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Center for Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Dept. of Mechatronics and Robotics Universiti Teknologi Malaysia 81310 UTM Skudai Johor Darul Takzim Malaysia

ISBN: (纸本)9781424470334

mechatronics was born in Japan in 1969. It is the synergetic integration of the Mechanical engineering and Electronic engineering with computer technology. It is a design discipline for the system integration for the structure and control of the target system. Today's mechatronics has advanced more and more to wider and broader areas, such as Micro and Nano mechatronics. In this lecture, this field is overviewed from the standpoint of robotic manipulation and control Micro mechatronics is one of mechatronics areas and has made remarkable progress recently, such as micro sensor and actuator for automotive technology, avionics technology, bio-medical manipulation technology, consumer electronics, and many others. It is mainly based on the Silicon lithography technology and other micro-fabrication technologies. Micro TAS (Total Analysis System) is one of the Micro technological applications. Nano mechatronics deals with the much smaller sized world than the Micro mechatronics. Nanotechnology gives technologies for nano-fabrication, nano-instrumentation and nano assembly for these areas, including nano-sensor, actuator and manipulation technology. Bio nanotechnology based on the Nano-mechatronics is also promising for the research in life-science. Thus the micro and nano robotic manipulation and control will play an important role for the 3 dimensional fabrication and assembly system and those application examples will be shown in this lecture. ©2010 IEEE.

关键词： Nanosensors

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Performance characteristics of digital peak current-injected control DC-DC converter using FPGA

Performance characteristics of digital peak current-injected...

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作者： Kurokawa, Fujio Sakemi, Junya Shibata, Yuichiro Soejima, Masato Yokoyama, Tomonori Sasaki, Masahiro Mimura, Yasuhiro Graduate School of Science and Technology Nagasaki University Japan Dept. of Electrical and Electronic Engineering Nagasaki University Japan Dept. of Computer and Information Sciences Nagasaki University Japan Dept. of Robotics and Mechatronics Tokyo Denki University Japan Shindengen Electric Mfg. Co. Ltd. Japan

ISBN: (纸本)9788986510119

The purpose of this paper is to estimate the performance characteristics of prototype of proposed digital peak current-injected control circuit using the FPGA IC. In the proposed novel digital control circuit, the peak current-injected control is realized using the combination of the simple dual A-D signal converter and the programmed delay circuit. The simple dual A-D signal converter consists of comparator and RC integrator. The programmed delay circuit and Pulse Width Modulation (PWM) is realized in a Field Programmable Gate Array (FPGA). From experimental and simulated results, it is confirmed that 1.2ns is not enough for the resolution of time delay because the output voltage eo and reactor current IL are unstable. So, it is necessary to improve the resolution of time delay until less than one-tenth in the general commercial FPGA.

关键词： Delay circuits

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Nanofork and line-patterned substrate for measuring single cells adhesion force inside ESEM

Nanofork and line-patterned substrate for measuring single c...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Ahmad, Mohd Ridzuan Nakajima, Masahiro Kojima, Masaru Kojima, Seiji Homma, Michio Fukuda, Toshio Dept. of Mechatronics and Robotics Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia Department of Micro-Nano Systems Engineering Nagoya University Nagoya 464-8603 Japan Department of Biological Science Graduate School of Science Nagoya University Nagoya 464-8602 Japan

ISBN: (纸本)9781424470334

In this paper, single cell adhesion force was measured using a nanofork. The nanofork was used to pick-up a single cell on a line-patterned substrate inside ESEM. The line-patterned substrate was used to provide small gaps between the single cells and the substrate. Therefore, the nanofork could be inserted through these gaps in order to successfully pick-up a single cell. Adhesion force was measured during the cell pick-up process from the deflection of the cantilever beam. The nanofork was fabricated using focused ion beam (FIB) etching process while the line-patterned substrate was fabricated using nanoimprinting technology. As to investigate the effect of contact area on the strength of the adhesion force, two sizes of gap distance of line-patterned substrate were used, i.e. 1 μm and 2 μm. Results showed that cells attached on the 1 μm gap line-patterned substrate required more force to be released as compared to the cells attached on the 2 μm gap line-patterned substrate. ©2010 IEEE.

关键词： Cells

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Nanorobot for Brain Aneurysm (vol 28, pg 558, 2009)

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2009年第7期28卷 927-927页

作者： Cavalcanti, Adriano Shirinzadah, Bijan Fukuda, Toshio Ikeda, Seiichi CAN Center for Automation in Nanobiotech Melbourne VIC 3168 Australia Monash University Department of Mechanical Engineering Robotics and Mechatronics Research Laboratory Clayton Melbourne VIC 3800 Australia Nagoya University Dept. of Micro-Nano Systems Eng. Nagoya Aichi 464-8603 Japan -u.ac.jp

In this paper we present how nanoelectronics should advancemedicine, providing details on the teleoperated techniques andequipment design methodology necessary for the effective developmentof nanorobots. The platform architecture describes how to usea nanorobot for intracranial prognosis, and shows how it shouldbe integrated for medical instrumentation. Furthermore, thecurrent study establishes proteomics, nanobioelectronics, andelectromagnetics as the basis to advance medical nanorobotics.To illustrate the proposed approach, the nanorobots must searchfor protein overexpression signals in order to recognize initialstages of aneurysm. An advanced nanomechatromics simulator,using a three-dimensional task-based environment, is implementedto provide an effective tool for device prototyping and medicalinstrumentation analysis. Thus, based on clinical data and nanobioelectronics,the proposed model offers details about how a nanorobot shouldhelp with the early detection of cerebral aneurysm.

关键词： architecture biochip medical nanorobotics nanobioelectronics nanobiosensor.

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Enhancement of infrared-based image identification system for security robots by image decomposition

Enhancement of infrared-based image identification system fo...

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International Conference on Autonomous Robots and Agents, ICARA

作者： K.H. Abas O. Ono Z. Ibrahim Dept. of Electron. & Bioinf. Meiji Univ. Kawasaki Department of Electronics and Bioinformatics Faculty of Science and Technology Meiji University Japan Department of Mechatronics and Robotics Faculty of Electrical Engineering University Technology of Malaysia Malaysia

In this paper, a new infrared-based face identification system based on an input image decomposition is presented. The proposed image decomposition is a novel approach to transform an infrared image into a multilayer infrared image based on energy levels. Image decomposition is done by firstly applying false-color palette to the input image which will then be decomposed according to each of the false-color layer. The proposed approach is able to identify correct images from manifold poses by using frontal view of the infrared images and its decomposition layers as training images. In this work, the proposed method was verified through the implementation on a face recognition system, which was based on wavelet and neural network classification. The application of this finding is substantial, for security and rescue robots, for example, where a single image is acquired and should be critically identified.

关键词： Security Robots Image decomposition Face recognition Lighting Infrared imaging Biometrics Image generation Bioinformatics Nonhomogeneous media

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Study of skating robot

Study of skating robot

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2008 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2008

作者： Shibata, Takahiro Sato, Kazuo Takeshita, Toshikazu Iwase, Masami Hatakeyama, Shoshiro Dept. of Computers and System Engineering Tokyo Denki University Saitama Japan Dept. of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

ISBN: (纸本)9781424424955

Walk movement of a humanoid robot is necessary on undulation surface. However, efficiency is not so good because much energy losses occur by friction at the time of reaching the ground. Therefore, think about slide movement to assume the foot is a blade. This case, it is necessary to control balance because there are few ground contact areas. In this paper, propose of the skating robot mechanism and examine optimal control to an easy model. Also, the dynamic equation of the skating robot is derived using the Projection Method. © 2008 IEEE.

关键词： Anthropomorphic robots

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A full order sliding mode tracking controller for direct drive robot manipulators

A full order sliding mode tracking controller for direct dri...

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2004 5th Asian Control Conference

作者： Ahmad, M.N. Osman, Johari H.S. Dept. of Robotics and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Malaysia

ISBN: (纸本)0780388739

This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.

关键词： Sliding mode control

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