检索结果-内蒙古大学图书馆

IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Ziting Chen Wei He Yiting Dong Zhijun Li College of Automation Science and Engineering South China University of Technology Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China

ISBN: (纸本)9781479987313

In this paper, adaptive output feedback control via neural networks is designed for a robotic exoskeleton with unknown dynamics. Neural networks are used to compensate for the unknown deadzone effect induced by the actuators and the unknown dynamics of the robot. High-gain observer is employed to estimate the velocity information and then integrated in the design of output feedback controller. The deadzone effect is approximated by a Radial Basis Function Neural Network (RBFNN) and the tracking error for the deadzone effect is bounded and converging. The unknown dynamics of the robotic exoskeleton are estimated with another RBFNN. The proposed control is able to compensate for the estimated deadzone effect and track the desired trajectory. Finally, numerical simulation and experiment on a two-joint rigid exoskeleton demonstrate the effectiveness of the proposed method.

关键词： Neural network control Deadzone Adaptive control Robotic exoskeleton neural network control Output Feedback Control Neural network adaptive control Robotic Exoskeleton Radial basis function networks Unknown Output feedback

来源：评论

学校读者我要写书评

暂无评论

Size-dependent bistability of an electrostatically actuated arch NEMS based on strain gradient theory?

引用

Journal of Physics D: Applied Physics 2015年第24期48卷

作者： Tajaddodianfar, Farid Pishkenari, Hossein Nejat Yazdi, Mohammad Reza Hairi Miandoab, Ehsan Maani School of Mechanical Engineering College of Engineering University of Tehran Tehran Iran Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran

This paper deals with the investigation of the size-dependent nature of nonlinear dynamics, in a doubly clamped shallow nano-arch actuated by spatially distributed electrostatic force. We employ strain gradient theory together with the Euler-Bernoulli and shallow arch assumptions in order to derive the nonlinear partial differential equation governing the transverse motion of the arch with mid-plane stretching effects. Using the Galerkin projection method, we derive the lumped single degree of freedom model which is then used for the study of the size effects on the nonlinear snap-through and pull-in instabilities of the arch nano-electro-mechanicalsystem (NEMS). Moreover, using strain gradient theory, the size-dependent bistability and fundamental frequencies of the nano-arch are scrutinized, revealing that, despite what is predicted by the classical theory, the bistability region in the parameter space of the nanostructure shrinks as the structure scales down. Also, we show that the minimum initial elevation, required for bistability, increases as the nano-arch scales down. © 2015 IOP Publishing Ltd Printed in the UK.

关键词： Arches

来源：评论

学校读者我要写书评

暂无评论

Neural Adaptive Control for Robots with Uncertainties in Manipulator Dynamics and Actuator Dynamics Under Constrained Task Space

Neural Adaptive Control for Robots with Uncertainties in Man...

引用

第三十四届中国控制会议

作者： Zhong-Liang Tang Shuzhi Sam Ge Wei He Center for Robotics and School of Computer Science and Engineering University of Electronic Science and Technology of China Social Robotics Lab Interactive Digital Media Institute National University of Singapore Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

Driven by the needs of safe human-robot interaction, this paper presents control designs for tracking control of robot system with uncertain manipulator dynamics and joint actuator dynamics subject to constrained task space. The integral Barrier Lyapunov Functional(i BLF) is employed to guarantee the constraint satisfaction, in which a conservative mapping of original constraint into new constraints on tracking errors is removed. Neural Networks(NN) are adopted to approximate the unknown packaged terms in desired control. Appropriate adapting parameters are constructed to estimate the unknown bounds on NN approximation. It is proved that the task space vector of end-effector converge to a small neighborhood around a desired trajectory without violating the predefined constrained region. Simulation results are provided to illustrate the performance of proposed control.

关键词： Robot,Constrained Task Space,Safe Interaction,Neural Networks,Barrier Lyapunov Function

来源：评论

学校读者我要写书评

暂无评论

An improving analytically model with high accuracy for a micro manipulator

引用

Journal of Information Hiding and Multimedia Signal Processing 2015年第6期6卷 1242-1249页

作者： Ni, Yuan Deng, Zong-Quan Li, Jun-Bao Wu, Xiang Li, Long Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology China Shanghai Key Laboratory of Mechanical Automation and Robotics SSchool of Mechatronic Engineering and Automation Shanghai University China

A proposed mathematical model is established for modal analysis of a micro manipulator. According to the geometric characteristics of the manipulator, the model is built by using finite element method with multipoint constraint equations, and the corresponding displacement coordinate matrix is obtained after that. Considering that the regular flexure hinge plays a key role, in this analysis process, the hinge is treated as a varied cross-section Euler-Bernoulli beam element and the finite element model is established by a new procedure which followed the element internal equilibrium principle consequently. The stiffness matrix, the mass matrix and the exact shape functions of the non-prismatic beam element can be obtained respectively. Furthermore, the influences of geometric parameters on the fundamental frequency can also be discussed. © 2015 Ubiquitous International. All rights reserved.

关键词： Natural frequencies

来源：评论

学校读者我要写书评

暂无评论

An Anti-interference EEG-EOG Hybrid Detection Approach for Motor Image Identification and Eye Track Recognition

An Anti-interference EEG-EOG Hybrid Detection Approach for M...

引用

第三十四届中国控制会议

作者： Haoyue Tang Yue Zhao Wei He Wei Fu School of Computer Science and Technology University of Electronic Science and Technology of China School of Automation Engineering University of Electronic Science and Technology of China School of Automation Engineering & Center for Robotics University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

In this paper, an anti-interference EEG-EOG hybrid detection approach is adopted for motor image identification and eye track recognition. We present a wave trap filter and a band pass filter to suppress power frequency interference and white noise. Meanwhile, the filter can still separate EEG and EOG signal from hybrid signal. Then, the features of EEG/EOG signal are extracted by the wavelet transform algorithm, and classified by the linear discriminant analysis(LDA) *** effectiveness of the signal process method described in this paper can be clearly observed through both of simulations and experiments, and the accuracy rate of pattern recognition is demonstrated in the end of the paper.

关键词： EEG signal,EOG signal,wavelet transform,LDA algorithm

来源：评论

学校读者我要写书评

暂无评论

Boundary Control Design and Stability Analysis of an Euler-Bernoulli Beam System with Input Backlash

Boundary Control Design and Stability Analysis of an Euler-B...

引用

第三十四届中国控制会议

作者： Xiuyu He Wei He Hui Qin Chang Liu Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China Department of Mathematics and Computer Science Eindhoven University of Technology

ISBN: (纸本)9781467374439

This paper investigates the vibration control of an Euler-Bernoulli Beam with nonlinear backlash input. Based on the dynamical model of the flexible beam, the boundary control law and the disturbance observer are designed to suppress the vibration of the system and reduce the effect of the backlash. The stability of the closed-loop system is proved and the uniform boundness of the states of the system is achieved. The proposed boundary control with appropriate parameters is proved to be effective by the performance of numerical simulations of the flexible beam system.

关键词： Input Backlash Flexible Beam Distributed Parameter Systems Vibration Control

来源：评论

学校读者我要写书评

暂无评论

Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy

Piezoelectrically Actuated Robotic System for MRI-Guided Pro...

引用

作者： Su, Hao Shang, Weijian Cole, Gregory Li, Gang Harrington, Kevin Camilo, Alexander Tokuda, Junichi Tempany, Clare M. Hata, Nobuhiko Fischer, Gregory S. Automation and Interventional Medicine Robotics Lab Department of Mechanical Engineering Worcester Polytechnic Institute WorcesterMA101609 United States Philips Research North America Briarcliff ManorNY10510 United States National Center for Image Guided Therapy Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States

This paper presents a fully actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intraoperative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian motion module. The needle driver provides needle cannula translation and rotation (2-DOF) and stylet translation (1-DOF). A custom robot controller consisting of multiple piezoelectric motor drivers provides precision closed-loop control of piezoelectric motors and enables simultaneous robot motion and MR imaging. The developed modular robot control interface software performs image-based registration, kinematics calculation, and exchanges robot commands and coordinates between the navigation software and the robot controller with a new implementation of the open network communication protocol OpenIGTLink. Comprehensive compatibility of the robot is evaluated inside a 3-T MRI scanner using standard imaging sequences and the signal-to-noise ratio loss is limited to 15%. The image deterioration due to the present and motion of robot demonstrates unobservable image interference. Twenty-five targeted needle placements inside gelatin phantoms utilizing an 18-gauge ceramic needle demonstrated 0.87-mm root-mean-square (RMS) error in 3-D Euclidean distance based on MRI volume segmentation of the image-guided robotic needle placement procedure. © 1996-2012 IEEE.

关键词： Magnetic resonance imaging

来源：评论

学校读者我要写书评

暂无评论

A new method of extracting the altitude curves along chromosomes based on contour line

A new method of extracting the altitude curves along chromos...

引用

International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Fengtian Li Li Ma Bo Liu Ruihua Chen Changhai Ru School of Mechatronic Engineering and Automation Shanghai University Shanghai China The First Affiliated Hospital Soochow University Suzhou China Robotics and Microsystems Center Soochow University Svzhou China

This study presented a new way of extracting the altitude curves along the chromosomes by atomic force microscopy. Based on the correspondence between the altitude distribution from chromosomes surface and the band structure along the stained chromosomes, topography analysis of chromosomes using atomic force microscopy has the potential of karyotyping without complex chemical banding process. In the experiment, chromosomes prepared in air condition were imaged by atomic force microscopy and altitude curves extracted in conventional way and proposed way were compared to see the differences, which demonstrates that this new extracting method based on contour line has the advantage of taking the deformation caused by chromosomes contraction into consideration.

关键词： Biological cells Feature extraction Atomic force microscopy Force Nanobioscience Optical microscopy

来源：评论

学校读者我要写书评

暂无评论

Development of a physiological signals enhanced teleoperation strategy

Development of a physiological signals enhanced teleoperatio...

引用

International Conference on Information and automation (ICIA)

作者： Chenguang Yang Junshen Chen Zhijun Li Wei He Chun-Yi Su Center for Robotics and Neural Systems Plymouth University UK College of Automation Science and Engineering South China University of Technology Guangzhou China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Department of Mechanical and Industrial Engineering Concordia University Montreal Canada

In this paper, we have developed a teleoperation method with novel features, such that the human operator could manipulate the telerobot using both physical and physiological means. Physiological studies have shown that our central neural system (CNS) is able to adapt muscle force, stiffness and damping to perform different tasks under various environments. However, there has been very little research in the robotics communities to incorporate human motor skills of muscle force, stiffness and damping adaptation into teleoperation. As a matter of fact, muscle activities regulated by CNS can be represented by surface electromyography (sEMG) measured by electrodes attached on the skin of human limbs. Therefore, sEMG based teleimpedance control has been recently developed to transfer the variable stiffness from human operator to a robot for flexible manipulation [1], [2], [3]. In this paper, we have developed a personalised variable gain control, whereas the control gain is set according to muscle activation extracted from sEMG signals, and force feedback is employed such that human operator is able to sense the circumstance in a haptic manner and to adapt muscle contraction subconsciously as if they are directly interacting with the environment. The proposed method enables an operator to adjust tracking speed and stiffness of the telerobot easily on the fly, and thus greatly improves a user's manipulation ability for delicate tasks, especially in the presence of motion amplification and varying payload on the telerobot. The effectiveness of the proposed approach has been tested and confirmed by comparative experiments, in which a 7-DOF (degrees of freedom) robotic arm of Baxter® robot is employed.

关键词： Force Manipulators Muscles Haptic interfaces Electromyography Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

A Study on the Effect of Object's Shape in the Underwater Active Electrolocation

A Study on the Effect of Object's Shape in the Underwater Ac...

引用

IEEE International Conference on Applied Superconductivity and Electromagnetic Devices

作者： Lu Liu Jie Gang Peng School of Automation Engineering and Center for Robotics University of Electronic Science and Technology of China

ISBN: (纸本)9781467381086

Object can distort electric field, based on this principle, weakly fish can orient and navigate in the dark environment. In order to study on one of the influence factor of the amplitude information-frequency characteristics (AIFC) of the electrolocation system, we conducted the underwater active electrolocation experiments with different shapes of object. During the experiments, data will be saved in a host computer. And then, joint time-frequency analysis was applied to process all of the experiment data. The processing result is joint time spectrogram, through analysis these spectrogram, we found the Frequency Inflection Point (FIP) of AIFC for the electrolocation system and the following conclusions were obtained: the underwater active electrolocation has some relationships with the object's shape and the shape of object will effect on the electric image. It is a blind area for location in a specific shape of object. This may be helpful for improving the underwater active electroloation's performance.

关键词： Underwater active electrolocation Electric image Joint time-frequency analysis Amplitude information-frequency characteristics (AIFC) Frequency inflection point (FIP) Object's shape

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：