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Modelling and visualisation for mobile robots working in severe environment

IFAC Proceedings Volumes 2000年第20期33卷 345-350页

作者： Ivan L. Ermolov Philip R. Moore Jury V. Poduraev Department of Robotics and Mechatronics Moscow State Technological University “STANKJN” Vadkovsky per. ЗА Moscow 101472 RUSSIA Faculty of Computing Sciences and Engineering De-Montfort University Leicester LEI 3BH UK

Modern mobile robots are more and more often used for implementing various complicated tasks in severe environment. The goal is to free human from the exposure of dangerous and harmful influence which may damage its health. The later years mobile robots more often are used in autonomous mode implementing most of the tasks without direct human interaction. As soon as environment usually is rather complicated it causes the necessity to involve advanced and sophisticated techniques for modelling and visualisation. It can be successfully realised with modern software improving the performance of mobile robots.

关键词： mobile robots visual motion modelling simulation motion parameters computer graphics man/machine interfaces

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Modeling and instrumentation for fault detection and isolation of a cooling system

Modeling and instrumentation for fault detection and isolati...

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IEEE Southeastcon

作者： P.J. Feenstra E.-J. Manders P.J. Mosterman G. Biswas R.J. Barnett Department of Electrical Engineering University of Twente Enschede Netherlands Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN USA DLR Oberpfaffenhofen Institute of Robotics and Mechatronics WeBling Germany Department of Mechanical Engineering Vanderbilt University

Functional redundancy techniques for fault detection and isolation (FDI) in dynamic systems requires close interaction between system instrumentation, modeling and analysis. Effective FDI requires detailed and accurate models to trade and analyze system behavior, including transient phenomena that result from faults. It also requires appropriate instrumentation technology to provide the measurements to capture and analyze system behavior. Models and measurements must be matched carefully to provide sufficient observability and effective analysis. In this paper we demonstrate the development of FDI systems for complex applications by presenting the modeling and instrumentation of an automobile combustion engine cooling system. We have developed a qualitative parameter estimation methodology for FDI. A system model is represented as a graph that captures the dynamic behavior of the system. To demonstrate the applicability a small leak is artificially introduced in the cooling system and accurately detected and isolated.

关键词： Instruments Fault detection Vehicle dynamics Cooling Redundancy Transient analysis Appropriate technology Isolation technology Observability Automobiles

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Blending multi-behaviors of intelligent reactive navigation for legged walking robot in unstructured environment

Blending multi-behaviors of intelligent reactive navigation ...

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IEEE Region 10 International Conference TENCON

作者： A.A.S. Al-Jumaily S.H.M. Amin Intelligent system Engineering Group Department of Mechatronics Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Center for Artificial Intelligence and Robotics Faculty of Electrical Fbgmeering Universiti Teknologi Malaysia Skudai Johor Malaysia

The reaction of autonomous mobile robot to the dynamic, uncertain, and changeable environment is one of most difficult issue in control of the intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling the intelligent reactive navigation. Present work deals with building of fuzzy behaviors based reactive navigation to reach the goal, propose new method to blend and coordinate multiple behaviors in the same time. This method using fuzzy technique and fix priority value reflects the importance of the behavior. Our behaviors system is test by building our simulation and animation programs that reflect online the robot movement using graphical user interface (GUI).

关键词： Intelligent robots Legged locomotion Navigation Mobile robots Robot kinematics Robot sensing systems Control systems Uncertainty Intelligent sensors Intelligent systems

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Experimental Verification of an Advanced Space Teleoperation System Using the Internet

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Journal of robotics and mechatronics 2000年第4期12卷 356-363页

作者： Tsumaki, Yuichi Goshozono, Toshihiko Abe, Koyu Uchiyama, Masaru Koeppe, Ralf Hirzinger, Gerd Department of Aeronautics and Space Engineering Tohoku University Aoba-yama 01 Sendai980-8579 Japan Institute of Robotics and Mechatronics DLR German Aerospace Research Center P.O. Box 1116 Wessling82230 Germany

In our previous work, several system elements for space teleoperation were introduced: a Singularity Consistent (SC) teleoperation system, a mixed force and motion commands based space teleoperation system and a 6-DOF haptic interface. In this paper, we introduce an advanced space teleoperation system that includes all the above elements. As a result, with the good perception for the operator, the system realizes safety against both singularities and excessive force. In addition, to verify the effectiveness of this system, we conducted experiments over the Internet between DLR in Germany and Tohoku University in Japan in January 1999. © 2000, Fuji Technology Press. All rights reserved.

关键词： Haptic interfaces

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A Combined Qualitative/Quantitative Approach for Fault Isolation in Continuous Dynamic Systems

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IFAC Proceedings Volumes 2000年第11期33卷 505-510页

作者： Eric-J. Manders Sriram Narasimhan Gautam Biswas Pieter J. Mosterman Department of Electrical Engineering and Computer Science Vanderbilt University P.O. Box 1679 Sta. B Nashville TN 37235 Institute of Robotics and Mechatronics DLR Oberpfaffenhofen P.O. Box 1116 D-82230 Wessling Germany

The TRANSCEND system for fault detection and isolation in continuous systems uses qualitative reasoning methods to analyze transients caused by abrupt faults. Qualitative transient analysis avoids some of the computational difficulties associated with numerical schemes, but they lack discriminating power. This paper presents the formal basis for qualitative transient analysis, and then establishes the limits of the discriminatory power of this methodology. An integrated scheme that starts with qualitative fault isolation to narrow down possible fault hypotheses, and then uses a focused quantitative parameter estimation scheme to identify the true fault is developed. This approach provides a number of advantages over purely quantitative FDI schemes.

关键词： Fault detection isolation monitoring qualitative analysis transient analysis parameter estimation

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Roads to Regional Conflict Resolution via Academic and National Goals of Co-operation

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IFAC Proceedings Volumes 2000年第8期33卷 119-125页

作者： A.Talha Dinibütün Miomir K. Vukobratovic Nedko Shivarov Kurt Schlacher Georgi M. Dimirovski Faculty of Engineering Dogus University TR-81010 Istanbul- Kadiköy Turkey FAX# +90-216-327-9631 Centarfor Robotics Institute “Mihailo Pupin ” Serbian Academy of Sciences and Arts Yugoslav Aacdemy of Engennering YU-ll000 Beograd Volgina 15 Serbia Yugoslavia Centaral Laboratory for Mechatronics andInstrumentation Bulgarian akademija na naukite BG-1113 Sofia UI. Akademik Boncev blok II Bulgaria Institut für Regelungstechnik und elektrische Antriebe Johannes Kepler Univesität A-4040 Linz Aitenberger-strafJe 69 Austria Institut za ASI pri Elektrotehnicki fakuitet Univerzitet“ Sv. Kiril i Metodij ” Karpos 2 B.B. MK-91000 Skopje R. Macedonia. Fax #: +389-91-36-42-62

Experience of the impact of gradually increasing scientific co-operation during most difficult times suggest that academia can do much more for enhancing a paradigm shift towards rethinking new value patterns and revision of national goals, which as a rule have been formulated a century ago. A system analysis of the causes and of the effects is clearly in favour to rethinking to academia a novel role in improving the bilateral mutual relationships via mutually beneficial, multilateral, scientific co-operation. It is an influential way for creating new spiritual forces of fairness and justice among and within long confronted communities, groups, societies, nations. A South-European case of an ever growing and flourishing academic co-operation involving a multinational group of control scientists and engineers in a dramatic period ofmost difficult time suggests this approach is feasible and useful. It remains only to find efficient means how to influence the decision making centres of powers at national level and in the region into a process ofre-examination and re-thinking the existing outdated national goals and society value patterns

关键词： System analysis goal-oriented systems goals foramation conceptual models conceptual mapping co-operation transition crisis.

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SHAPE MEMORY ALLOY ACTUATED ROBOT PROTHESES: INITIAL PROTOTYPES

SHAPE MEMORY ALLOY ACTUATED ROBOT PROTHESES: INITIAL PROTOTY...

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ASME 1999 International Mechanical engineering Congress and Exposition, IMECE 1999

作者： Pfeiffer, Charles Mavroidis, Constantinos Delaurentis, Kathryn Mosley, Mike Robotics and Mechatronics Laboratory Mechanical and Aerospace Engineering Department Rutgers University The State University of New Jersey 98 Brett Road PiscatawayNJ08854 United States

ISBN: (纸本)9780791816400

This paper describes the goals and current accomplishments of this research. The main thrust of this effort is to design artificial limbs that are lightweight, compact and dexterous, that mimic human anatomy and maintain a high lifting capability. The key to satisfying these objectives is the use of Shape Memory Alloy (SMA) artificial muscles as actuators. A general methodology to find the placement of SMA wires to achieve desired ranges of motion is presented. Three experimental prototypes, emulating human skeletal structures that are actuated by SMA artificial muscles are described in detail. It is expected that upper extremity amputees will greatly benefit from the commercialization of the novel robot prosthetic devices that will be developed in this research. These lightweight prostheses with high lifting capabilities, force-reflective characteristics and multidegree of freedom dexterity will tremendously improve the capabilities of amputees and therefore will attract their interest. In addition, our SMA actuated robotic devices can find other commercial applications. Of special interest to our team are two other commercial applications: space robotic systems and robot toys. © 1999 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Shape memory effect

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Design and implementation of an intelligent remote centre compliance (IRCC) for state of the art process control and self optimisation

Design and implementation of an intelligent remote centre co...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： G. Bright C. Deubler Department of Mechatronics and Robotics Mechanical Engineering University of Natal Durban South Africa

An intelligent remote centre compliance (IRCC), has been built to develop a self-teaching robot that is capable of managing and improving the efficiency of assembly operations. Robots are now commonplace in the modern manufacturing environment, but need to be used to their full capacity in order to be made cost effective. The proposed IRCC is a design tool that analyses operations being performed, using simple industrial electronics, and develops a kinematic model of the process based on this information. This model is used to generate new control routines and reduce the complexity of the required task. The IRCC system is also used to design a 'task optimised compliance', specifically designed to further maximise the efficiency of a particular task. By introducing this self-awareness it is possible to upgrade a simple robot to a state of the art learning machine. This paper details the design of such an IRCC system.

关键词： Intelligent robots Robotic assembly Service robots Manufacturing Costs Information analysis Performance analysis Industrial electronics Kinematics Design optimization

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A prototype Internet experiment system for control engineering

A prototype Internet experiment system for control engineeri...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Y. Ohyama Jin-Hua She K. Watanabe Mechatronics Department School of Engineering Tokyo University of Technology Hachioji Tokyo Japan NEC Robotics Engineering Limited Yokohama Kanagawa Japan

This paper describes an Internet experiment system for control engineering that is comprised of an experiment system and a computer-aided teaching system. The experiment system was set up in a laboratory and connected to the Internet so that students could do experiments on their own personal computers anywhere anytime. The computer-aided teaching system was implemented by building a database on a server to which students had free access, and which they could then use to store and share information on their experiments.

关键词： Prototypes Internet Control engineering Education Laboratories Design engineering National electric code Databases File servers Web server

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Shape memory alloy actuated robot prostheses: initial experiments

Shape memory alloy actuated robot prostheses: initial experi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C. Pfeiffer K. DeLaurentis C. Mavroidis Robotics and Mechatronics Laboratory Department of Mechanical and Aerospace Engineering State University of New Jersey Rutgers Piscataway NJ USA

Describes the objectives of a project, which are to design artificial limbs that are lightweight, compact and dexterous, that mimic human anatomy and maintain a high lifting capability. The key to satisfying these objectives is the use of shape memory alloy (SMA) artificial muscles as actuators. A general methodology to find the placement of SMA wires to achieve desired ranges of motion is presented. Two experimental prototypes, emulating human skeletal structures that are actuated by SMA artificial muscles are described in detail.

关键词： Shape memory alloys Robots Prosthetics Muscles Prototypes Extremities Human anatomy Wires Artificial limbs Force control

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