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检索条件"机构=Mechatronics and Robotics Laboratory"

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Quasi-movements as an intermediate type of motion 5

Quasi-movements as an intermediate type of motion

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5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Smirnov, Nikita M. Kurkin, Semen Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

This paper discusses the three distinct types of motor activity, namely quasi, real, and imagery. Quasi-motion is voluntary movements that are minimized to the point that finally become undetectable by objective measures. This type of motion is particular from the point of difficulty of classifying it as real or imaginary. In this paper, we are aiming to show it from the sensor- and source-level perspectives. © 2021 IEEE

关键词： Dynamics Complex networks

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Artificial Neural Networks for the Forward Kinematics of a SCARA Manipulator: A Comparative Study with Two Datasets

Artificial Neural Networks for the Forward Kinematics of a S...

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Emerging Technologies for Sustainability and Intelligent Systems (ICETSIS), ASU International Conference in

作者： Rania Bouzid Jyotindra Narayan Hassène Gritli RISC Laboratory (LR16ES07) Higher Institute of Information and Communication Technologies University of Carthage Borj Cedria Tunis Tunisia Department of Mechanical Engineering Mechatronics and Robotics Laboratory Indian Institute of Technology Guwahati Guwahati Assam India Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Le Belvédère Tunis Tunisia

In the field of robotics and automation, the precise determination of manipulator positions is a fundamental aspect with widespread applications. Despite the significance of analytical methods, solving the Forward Kinematics (FK) for Selective Compliance Assembly Robot Arm (SCARA) manipulator robots can be complex and computationally intensive. Our research introduces a method to address the FK problem for the four degrees of freedom (4-DoF) SCARA manipulator through Artificial Neural Networks (ANNs). We utilize two different generated datasets, one with a fixed step size and another one based on a sinusoidal signal, for training the ANNs. This choice of datasets allows us to assess the ANN s' generalization capabilities across a range of operating conditions. Thereafter, the study is planned to investigate the ANN's performance while employing three distinct training algorithms: Levenberg-Marquardt (LM), Bayesian Regularization (BR), and Scaled Conjugate Gradient (SCG). Through a comprehensive comparison of the performance of different ANN models, different training algorithms, and the two adopted generated datasets, this study provides valuable insights into selecting the most optimal training configurations for the SCARA robot's FK solutions. We employ the Mean Squared Error (MSE) and the error histogram as two performance metrics to assess the accuracy of various ANNs. The results reveal that optimal MSE outcomes were obtained when utilizing a balanced architecture with three hidden layers in the analysis of the sinusoidal-signal-based datasets.

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Analysis of algorithms for controlling the length of crawling robot modules 4

Analysis of algorithms for controlling the length of crawlin...

引用

4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Vorochaeva, Lyudmila Savin, Sergei Hamed, Hani Leon, Andres Martinez Southwest State University Department of Mechanics Mechatronics and Robotics Kursk Russia Innopolis University Laboratory of Mechatronics Control and Prototyping Innopolis Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172866

The paper proposes a control system for a crawling robot when it implements a flat motion while fixing the two extreme supports of the modules on the surface. Each module is a sliding pair of links, the modules are connected to each other by two active hinges that provide rotation of the modules in two mutually perpendicular planes. The contact of each module with the surface is made by means of two supports with a controlled coefficient of friction. A comparative analysis of three algorithms for controlling module lengths, which differ in the number of control stages and the number of controlled module lengths at each stage. © 2020 IEEE.

关键词： Control systems

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A Study of Feasibility of a Mechanism for Rib-Vertebra-Sternum Prosthesis 13th

A Study of Feasibility of a Mechanism for Rib-Vertebra-Stern...

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Joint International Conference of the 13th IFToMM International Symposium on Science of Mechanisms and Machines, SYROM 2022 and 25th International Conference on robotics, robotics 2022

作者： Ramirez, O. Ceccarelli, M. Torres-San-Miguel, C.R. Escuela Superior de Ingeniería Mecánica y Eléctrica Sección de Estudios de Posgrado e Investigación Instituto Politécnico Nacional Unidad Profesional "Adolfo López Mateos" Zacatenco Mexico City Mexico LARM2: Laboratory of Robotics and Mechatronics Department of Industrial Engineering University of Rome Tor Vergata Roma00133 Italy

ISBN: (纸本)9783031256547

A mechanism with flexural joints is proposed as a prosthesis of a complex vertebra-rib-sternum. The flexible anatomic behavior is replicated by a mechanism structure concentrating the flexibility in suitable flexural joint designs. The feasibility of the proposed design is characterized by numeral performance values from quasi-static simulations. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Bioinformatics

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A new extensible continuum manipulator using flexible parallel mechanism and rigid motion transmission

A new extensible continuum manipulator using flexible parall...

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ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020

作者： Liu, Yujiong Ben-Tzvi, Pinhas Robotics and Mechatronics Laboratory Mechanical Engineering Department Virginia Tech BlacksburgVA United States

ISBN: (纸本)9780791883990

An extensible continuum manipulator (ECM) has specific advantages over its non-extensible counterparts. For instance, in certain applications, such as minimally invasive surgery or tube inspection, the base motion might be limited or disallowed. The additional extensibility provides the robot with more dexterous manipulation and larger workspace. Existing continuum robot designs achieve extensibility mainly through artificial muscle/pneumatic, extensible backbone, concentric tube, and base extension etc. This paper proposes a new way to achieve this additional motion degree of freedom by taking advantage of the rigid coupling hybrid mechanism concept and a flexible parallel mechanism. More specifically, a rack and pinion set is used to transmit the motion of the i-th subsegment to drive the (i+1)-th subsegment. A six-chain flexible parallel mechanism is used to generate the desired spatial bending and one extension mobility for each subsegment. This way, the new manipulator is able to achieve tail-like spatial bending and worm-like extension at the same time. A proof-of-concept prototype was integrated to verify the mobility of the new mechanism. Corresponding kinematic analyses are conducted to estimate the workspace and the motion non-uniformity. Copyright © 2020 ASME

关键词： Manipulators

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Source-level analysis of brain activity in the process of learning and retrieving new information 5

Source-level analysis of brain activity in the process of le...

引用

5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Makarov, Vladimir Grubov, Vadim Kurkin, Semen Smirnov, Nikita Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

In this paper, we discovered the increase in EEG power in the theta frequency range in the occipital cortex during a visual analysis of new information and the power decrease in the alpha range in the temporal lobe during retaining information. The revealed increase in theta power correlates with the response time and errors rate. The alpha power correlates with response time. Summarizing the above, the detected cluster of theta-activity during information perception may reflect the increased concentration of attention. © 2021 IEEE

关键词： Electroencephalography

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Analysis of information perception and processing during long-term and intense cognitive load using combined EEG and NIRS

Analysis of information perception and processing during lon...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Grubov, Vadim Badarin, Artem Maksimenko, Vladimir Center for Technologies in Robotics and Mechatronics Components Innopolis University Neuroscience and Cognitive Technology Laboratory Russia

ISBN: (纸本)9781728187631

This work is devoted to the analysis of information perception and processing during long-term and intense cognitive load using combined EEG + NIRS. We consider changes in the reaction time during long-term and intense cognitive load and a comparison of brain activity with behavioral characteristics. We found the establishment of a characteristic mode in the brain corresponding to a routine cognitive task. © 2020 IEEE.

关键词： Brain

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Design and Characterization of a Flexure-Based Hybrid Mechanism for Precise Micro/Nano Positioning

Design and Characterization of a Flexure-Based Hybrid Mechan...

引用

International Conference on mechatronics Technology (ICMT)

作者： Kim Sang Tran Kai Zhong Lai Bijan Shirinzadeh Armin Ehrampoosh Yanling Tian Dawei Zhang Yanding Qin Department of Mechanical and Aerospace Engineering Monash University Robotics and Mechatronics Research Laboratory (RMRL) Melbourne Australia School of Engineering University of Warwick Conventry UK Control and Systems Engineering Tianjin University Tianjin China

This paper presents a hybrid mechanism for micro/nano positioning and manipulation by combining a piezoelectric actuator (PEA) and a voice coil motor (VCM) using a flexure bridge. The research investigates the behavior of the hybrid mechanism, designs the amplification mechanism, and characterizes and compares the dominant parameters through modal and finite element analysis. The models were designed using Solidworks software and optimized using response surface in ANSYS. The hybrid mechanism provides both long-range displacement and precision movement capabilities, making it suitable for micro-assembly, micro-manipulation, and microfluidics applications. The results illustrate that the amplification ratio of the flexure mechanism obtained by modal analysis was 4.38, which was 3.42% larger than that simulated by finite element model. The input stiffness of the flexure mechanism was 2231.81 N/mm, which is slightly lower than the figure calculated by Finite element analysis (FEA) at 2325.58 N/mm. However, the difference between the two output stiffnesses of this mechanism obtained by the two methods is close, standing at 1.60%.

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Comparison on brain activity for mechanical imagery and execution: a brief review 5

Comparison on brain activity for mechanical imagery and exec...

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5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Chepurova, Alla Kurkin, Semen Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

With this review we summarize the current state of scientific studies in the field of MI (motor imagery) and ME (motor execution). We composed brain map and description which correlate different brain areas with type of movements it is responsible for. That gives a more complete and systematic picture of human brain functionality in a case of ME and MI. Also we found the research gap and possible improvements for the further researches in this field. © 2021 IEEE

关键词： Brain

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Design and Analysis of a Novel 3-DOF Out-of-plane Micropositioning Mechanism

Design and Analysis of a Novel 3-DOF Out-of-plane Microposit...

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International Conference on mechatronics Technology (ICMT)

作者： Kai Zhong Lai Kim Sang Tran Bijan Shirinzadeh Armin Ehrampoosh Yanling Tian Yanding Qin Department of Mechanical and Aerospace Engineering Robotics and Mechatronics Research Laboratory (RMRL) Monash University Melbourne Australia School of Engineering University of Warwick Coventry UK College of Artificial Intelligence Nankai University Tianjin China

This paper proposes a novel 3-DOF high-precision monolithic micropositioning mechanism. The goal of this study is to develop an out-of-plane parallel kinematic manipulator with low parasitic motion and a large workspace. The mechanism consists of three driving arms, and each driving arm features two snowflake hinges, each boasting with two degrees of freedom. The driving arms are driven by piezoelectric actuators (PEAs) coupled with double symmetric five-bar displacement amplification mechanisms. The displacement amplifier perpendicularly transforms the translational motion of the PEA; therefore, the design offers a small footprint. An investigation was conducted through finite element analysis (FEA) to study the proposed mechanism's performance and develop the inverse kinematic model. The mechanism offers a large workspace of $\pm 4.610\text{mrad} \times \pm 4.004\text{mrad}\times\pm 179.3\mu \mathrm{m}$ .

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