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

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New fully decoupled manipulator with three translational motion for pick and place applications

New fully decoupled manipulator with three translational mot...

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International Conference on Control, Automation and robotics (ICCAR)

作者： Mahmoud Magdy Mohamed Fanni Abdullah T. Elgammal Abdelfatah M. Mohamed Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Electrical Engineering Department Assiut University Egypt

A new three degree of freedom 3-DOF manipulator with fully decoupled translational motion is proposed in this paper. The conceptual design of the proposed manipulator is based on the pantograph mechanism which provide the decoupling motion. Parallelogram mechanisms are added to the pantograph to obtain the fixed orientation of the end-effector in XYZ directions. The proposed manipulator not only has the same characteristics of parallel manipulators as high stiffness, high accuracy and small power consumption, but also has large workspace compared to its volume as serial manipulators. Thus, the advantages of both parallel and serial manipulators are offered in the proposed manipulator. Moreover, it possess unique characteristic over decoupled parallel manipulator counterparts in terms of workspace to size ratio. Besides, this manipulator moves with high speed as the Pantopteron manipulator and many-times faster than the other decoupled parallel manipulators based on the magnification factor of the pantograph mechanism. The mobility, kinematic analysis and workspace of the proposed manipulator are studied in details. The simulation results are carried out using ADAMS software to validate the feasibility of the conceptual design.

关键词： Kinematics Actuators End effectors Couplings Mathematical model

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Receding-horizon planning using recursive Monte Carlo Tree Search with Sparse Action Sampling for continuous state and action spaces

Receding-horizon planning using recursive Monte Carlo Tree S...

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American Control Conference

作者： Moritz Schneider Laboratory of Control Methods and Robotics Institute of Automatic Control and Mechatronics Dept. of Electrical Engineering and Information Technology Technische Universit?t Darmstadt Germany

ISBN: (纸本)9781467386838

This paper introduces a recursive, sampling-based Monte Carlo Tree Search (MCTS) approach to planning, i.e. receding horizon control, in continuous state and action nonlinear set-point control problems. Usually, predictive control methods for nonlinear systems aim at (sub-)optimal control behavior through solving a dynamic optimization problem over a fixed prediction horizon in every time step. Tree-based methods, which have recently gained interest in planning, model-based reinforcement learning and path planning, replace the optimization problem by an incremental probabilistic search for (sub-)optimal open-loop control sequences in the space of variable-length closed-loop trajectories. The benefit of using a weaker optimization procedure is that the algorithm is very simple to understand/apply and works for general nonlinear systems. This article is concerned with increasing the control performance and sampling-efficiency of MCTS in continuous state and action spaces based on ideas from the field of standard nonlinear model predictive control.

关键词： Search problems Planning Aerospace electronics Optimization Trajectory Monte Carlo methods Prediction algorithms

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Design of a Novel All Terrains Wearable Vehicle

Design of a Novel All Terrains Wearable Vehicle

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International Conference on Information Science and Control engineering (ICISCE)

作者： B. M. Sayed Mohamed Fanni Abdelfatah M. Mohamed Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt On Leave: Mechanical Engineering Dept. Mansoura University Mansoura Egypt On Leave: Electrical Engineering Department Assiut University Egypt

ISBN: (纸本)9781509025367

Transferring humans while carrying loads on all types of terrains efficiently utilizing a compact means of transportation is still a challenging task. Exoskeletons can augment human ability to carry large weights and go through unstructured areas but their speed are still limited with the human walking speed. This paper proposes the design of a novel wearable vehicle as a compact means of transportation which consists of a lower extremity exoskeleton carrying two motorized wheels and has two free wheels installed under its feet. On flat free ground, this novel system utilizes its motorized and free wheels to travel fast, when facing with some obstacles, the human can turn back to the walking mode. The wearable vehicle has Five degrees of freedom (DOF) per leg; two DOF for the hip joint, one DOF for the knee joint and two DOF for the ankle joint. It has three actuators per leg for motion in the sagittal plane. The mechanical parts of the system are designed using carbon steel (AISI 1020). The proposed design is examined under the maximum loads by using Solidworks 2014 software to check its feasibility in different modes of motion.

关键词： Vehicles Legged locomotion Wheels Exoskeletons Torque Actuators Hip

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Varying mass estimation and force ripple compensation using Extended Kalman Filter for linear motor systems

Varying mass estimation and force ripple compensation using ...

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Annual Conference of Industrial Electronics Society

作者： Jonghwa Kim Seibum Choi Kwanghyun Cho Sehoon Oh Dept. of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Mechatronics R&D Center Samsung Electronics Suwon Korea Dept. of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Korea

In many industrial fields, the mass information of a moving system is important and necessary to prevent undesired motion or failure and to control the system in its desired trajectory. One simple solution could be direct measurement of the mass using a sensor such as force sensor and accelerometer. However, it requires additional cost increase. In addition, it is not easy to measure the mass of a moving part in many cases. For those reasons, in this research, an online varying mass estimation algorithm is designed using an Extended Kalman Filter (EKF) without any additional sensors. Furthermore, the lumped disturbance compensating algorithm, which was designed by the authors in the previous research using EKF, is combined to obtain further position tracking performance. The effectiveness of the suggested method is validated through simulations. Additional verification with experiments is planned for future work.

关键词： Force Estimation Robot sensing systems Algorithm design and analysis Shape Kalman filters

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Dynamics analysis and control of all-terrains wearable vehicle

Dynamics analysis and control of all-terrains wearable vehic...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Mohamed S. Raessa Mohamed Fanni Abdelfatah M. Mohamed Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt Prod. Eng. Mechanical Design Dept. Mansoura University Egypt

ISBN: (纸本)9781467380768

Transferring humans while carrying loads on all types of terrains efficiently using compact means of transportation is still a challenge. This may be due to the unstructured areas humans need to move through, or due to traffic congestions in structured roads. Some compact-size, light-weight transportation systems have been developed but they provide only a partial solution to the stated problem. This paper presents the dynamics analysis and control of a novel all-terrains wearable vehicle, a new transportation means consisting of a lower extremity exoskeleton carrying two motorized wheels and two free wheels. On flat free ground, this novel system utilizes its wheels to travel fast and when faced with crowded traffic or unstructured area, the human just switches into walking mode. CAD models of the human and the wearable vehicle are developed, and a dynamic human walker is built in MSC ADAMS and is used for proving the feasibility the proposed wearable vehicle in its two modes of operation. PD controller with gravity compensation is designed to ensure that the wearable vehicle is tracking the human motion in the walking mode, and the results obtained show the effectiveness of the controller, the vehicle dynamics are also studied, and the critical acceleration safety margins are defined.

关键词： Vehicles Legged locomotion Exoskeletons Solid modeling Wheels Acceleration Vehicle dynamics

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Touchless Human-Mobile Robot Interaction using a Projectable Interactive Surface

Touchless Human-Mobile Robot Interaction using a Projectable...

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IEEE/SICE International Symposium on System Integration

作者： R. Agarwal P. Sharma S. K. Saha T. Matsumaru Dept. of Mechanical Engineering IIT Delhi Hauz Khas New Delhi-110016 India Bio-Robotics and Human-Mechatronics Laboratory Graduate School of IPS Waseda University Kitakyushu Fukuoka Japan

ISBN: (纸本)9781509033300

This paper showcases the development of a mobile robot integrated with Projectable Interactive Surface to facilitate its interaction with human users. The system was designed to interact with users of any physical attributes such as height, arm span etc. without re-calibrating it. The system was designed in such a way that there would be no need for the human to come in physical contact with the robot to give it instructions. This system uses a projector to render a virtual display on the ground allowing us to project large displays. Microsoft Kinect integrated in the systems performs a dual functionality of tracking the user movements along with mapping the surrounding environment. The gestures of the tracked user are interpreted and an audio visual signal is projected by the robot in response.

关键词： Collision avoidance Robot sensing systems Navigation Robot kinematics Acoustics

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Modeling and real-time dynamic control of cane robot for fall prevention

Modeling and real-time dynamic control of cane robot for fal...

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

作者： Mohamed A. Naeem Samy F. M. Assal A. A. Abouelsoud 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

Recently, the need for assistive devices has increased due to the rapid increase in the aging society. Elderly have weakened muscles in their lower limbs and they are susceptible to chronic injuries because of falling on the ground. They need some assistance to walk normally by themselves. The real-time fall prevention is a challenging problem due to the quite short time needed for the system to respond. So, in this paper, a 4-DOF cane robot system is proposed to assist elderly during walking and prevent them from falling. It consists of a 3-DOF Omni-direction mobile platform and one DOF stick. The 4-DOF is selected to achieve the front falling and the lateral one. First, the dynamic model of the cane robot using Lagrange method is derived. Then the kinematic model for the follow in the front by the cane robot is introduced. During normal walking, a kinematic control is introduced while a dynamic control is proposed during falling. An impedance controller whose gains tuned by Genetic algorithm (GA) with force/torque constraints is developed. Three cost functions are proposed for the GA to achieve the minimum time response required for real-time fall prevention. The results prove that the 4-DOF is enough for the front and lateral fall prevention and the dynamic response of the developed controller is suitable for real-time fall prevention.

关键词： Manganese

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Error Source Identification in Measuring Soft Tissue Stiffness and Self Compensating This Error Using Three Probes Configuration

Error Source Identification in Measuring Soft Tissue Stiffne...

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International Conference on Intelligent Systems, Modelling and Simulation (ISMS)

作者： Ahmed Fouly Ahmed M. R. Fath El Bab A. A. Abouelsoud Mohamed N. A. Nasr Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt Department of Production and Design Engineering Minia University Egypt Department of Mechanical Engineering Assiut University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt Department of Mechanical Engineering Alexandria University Egypt Department of Mechanical Engineering American University of Sharjah UAE

ISBN: (纸本)9781509006663

One of the biggest challenges for measuring soft tissue stiffness using tactile sensors is to have an output independent of the contact conditions. Although the approach of using two springs with different stiffness is used, the output of sensor is usually unstable because of the soft tissue surface irregularity. This irregularity creates an inclination angle between the sensor tips and the tissue. By scanning some real organs of a chicken using laser microscope, it is found that the angle value does not exceed 3 degrees. A modification on the original sensor is proposed to compensate that error. A finite element analysis for the two sensors is carried out to compare their behavior. The error of the original approach is about 55% and 103% with an inclination angle 3 degrees on the left and right direction, respectively. However, the modified sensor output is stable up to 8 degrees with an error not exceeding 4%. Furthermore, it could differentiate between different soft tissues stiffness within the specified range.

关键词： Biological tissues Springs Tactile sensors Finite element analysis Force measurement Resonant frequency

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IPMC based data glove for finger motion capturing 15

IPMC based data glove for finger motion capturing

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2015 Conference on Advances In robotics, AIR 2015

作者： Bhattacharya, Srijan Khan, Siladitya Sil, Tanmoy Bepari, Bikash Bhaumik, Subhasis Dept. of Applied Electronics and Instrumentation Engineering RCC Institute of Information Technology Beliaghata Kolkata India Department of Production Engineering Haldia Institute of Technology Haldia India School of Mechatronics and Robotics Indian Institute of Engineering Science and Technology Shibpur Howrah India

ISBN: (纸本)9781450333566

This paper presents a novel technique for development of data glove with Ionic Polymer Metal Composite (IPMC). IPMC is one of the varieties of Electro Active Polymer (EAPs). The IPMC strips have been used as sensor between the intermediate and distal phalanges of the index finger as well as between distal and proximal phalanges of the thumb of a user's hand. Human grasping can be performed using at least two fingers where thumb assumes an important role. Utilizing this phenomenon a data glove has been developed using IPMC sensors. These IPMC strips provide voltage output when subjected to a mechanical deformation hence it has been used as a sensor to capture the bending motion of a human finger. © 2015 ACM.

关键词： Organic conductors

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Improved occlusion handling for human detection from mobile robot

Improved occlusion handling for human detection from mobile ...

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Science and Information Conference (SAI)

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

This paper presents an approach for detecting multiple persons from a mobile robot using a combination of dept. and thermal information. Previous works were mainly based on RGB and thermal data, but in this work we present a system where we combine dept. and thermal data for occlusion handling. First, a classifier is trained using thermal images of the human upper-body. This classifier is used to obtain the bounding box coordinates of human. Initial detection process in thermal image is used as an estimate of the position of a person. The dept. image is later fused with the region of interest obtained from the thermal image. Using the initial bounding box, occlusion handling is performed to determine the final position of human in the image. The proposed method significantly improves human detection even under occlusion.

关键词： Cameras Mobile robots Robot vision systems Detectors Robot kinematics

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