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International Conference on Mechatronics and automation

作者： Yu, Qingyang Li, Bin Zhou, Weijia State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School Chinese Academy of Sciences China Wisconsin Center for Space Automation and Robotics 915ERB University of Wisconsin-Madison 1500 Engineering Drive Madison WI 53706 United States

This paper presents a dynamic object grasping strategy based on the predictive control algorithm. Simulation results and preliminary experiments show that the control method is able to complete the dynamic object gras... 详细信息

ISBN: (纸本)9781424451418

关键词： dexterous hand dexterous manipulators dynamic object grasping strategy predictive control predictive control algorithm

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Collision avoidance with obstacles in flocking for multi agent systems

Collision avoidance with obstacles in flocking for multi age...

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International Conference on Industrial Electronics, Control & robotics (IECR)

作者： Mir Saman Rahimi Mousavi Mehran Khaghani Gholamreza Vossoughi Center of Excellence in Design Robotics and Automation (CEDRA) School of Mechanical Engineering Sharif University of Technology Tehran Iran

Multi agent system is a system consist of multiple interacting agents. These systems tend to select the best solution for their problems. They can be used in different tasks which are hard for an individual or even a complex system to do. One of the most common algorithms which are used in multi agent systems is flocking. Here we introduce a theorem that multi agent systems could flock in environments with fixed obstacles without any collision between agents and obstacles. We use Lyapunov theory and prior algorithms on flocking to extract a theorem which under those conditions in the theorem, collision never occurs between agents and obstacles. Results show that the theorem insures collision avoidance between agents and obstacles.

关键词： Collision avoidance Lattices Potential energy automation Shape Educational institutions Service robots

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Analytical and experimental frequency response analysis of microcantilevers subject to tip-sample interaction

Analytical and experimental frequency response analysis of m...

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2009 ASME International Design engineering Technical Conferences and Computers and Information in engineering Conference, DETC2009

作者： Delnavaz, Aidin Nima Mahmoodi, S. Jalili, Nader Zohoor, Hassan Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center for Vehicle Systems and Safety Virginia Tech Blacksburg VA 24061 United States Smart Structures and NEMS Laboratory Clemson University Clemson SC 29634 United States

ISBN: (纸本)9780791849033

Improvement of microcantilever-based sensors and actuators chiefly depends on how comprehensively they are modeled and precisely formulated. Atomic Force Microscopy (AFM) is the most widespread application of microcantilever beam as a sensor, which is usually influenced by the tip-sample interaction force. For this, vibration of AFM microcantilever probe is analyzed in this paper, along with analytical, numerical and experimental investigation of the influence of the sample interaction force on the microcantilever vibration. Nonlinear integro-partial equation of microcantilever vibration subject to the tip-sample interaction is then derived and numerically simulated. Moreover, multiple time scales method is utilized to estimate the tip amplitude while it is vibrating near the sample. An experimental setup is developed using. Copyright © 2009 by ASME.

关键词： Atomic force microscopy

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Equation of motion of a wheeled inverted pendulum on an irregular terrain

Equation of motion of a wheeled inverted pendulum on an irre...

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作者： Jun, Lee Soo Lee, YongKwun Lee, Se-Han Department of Mechanical Engineering Kyungnam University Masan Korea Republic of Center for Cognitive Robotics Research Korea Institute Science and Technology 391-1 Hawolgok-dong Wolsong-gil 5 Seongbuk-gu Seoul 136-791 Korea Republic of School of Mechanical and Automation Engineering Kyungnam University 449 Wolyong-dong Masan Kyungnam 631-701 Korea Republic of

ISBN: (纸本)9781424474530

In this research, an equation of motion of a WIP (Wheeled Inverted Pendulum) running on an irregular terrain such as the inclined road is derived. The WIP becomes a popular platform for mobile robots which should be running on not only regular pavement but also irregular terrain. In order for the WIP to run on those roads there requires a robust controller which can be achieved from a fine equation of motion. This paper derives a planar (2D) equation of motion of the WIP based on Newton-Euler equation and equilibrium point changes of it with respect to those inclined roads. The changes mean that the reference point should be changed with respect to the inclined road conditions. ©ICROS.

关键词： Equations of motion

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Equation of motion of a Wheeled Inverted Pendulum on an irregular terrain

Equation of motion of a Wheeled Inverted Pendulum on an irre...

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International Conference on Control, automation and Systems ( ICCAS)

作者： Lee Soo Jun YongKwun Lee Se-Han Lee Department of Mechanical Engineering Kyungnam University Masan South Korea Center for Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea School of Mechanical and Automation Engineering Kyungnam University Kyungnam South Korea

关键词： Equations Wheels Roads Mathematical model Acceleration Torque Force

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Planar molecular dynamics simulation of Au clusters in pushing process

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International Journal of Nanomanufacturing 2010年第3-4期5卷 288-296页

作者： Mahboobi, Seyed Hanif Meghdari, Ali Jalili, Nader Amiri, Farshid Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology P.O. Box: 11365-9567 Tehran Iran Department of Mechanical Engineering Clemson University Clemson SC 29634-0921 United States Behsaz Fanavar Novin Robotics Research Group No. 2 Golestan St. Akbari St. Azadi Ave. Tehran Iran

Based on the fact that the manipulation of fine nanoclusters calls for more precise modelling, the aim of this paper is to conduct an atomistic investigation for interaction analysis of particle-substrate system for pushing and positioning purposes. In the present research, 2D molecular dynamics simulations have been used to investigate such behaviours. Performing the planar simulations can provide a fairly acceptable qualitative tool for our purpose while the computation time is reduced extremely in comparison to 3D simulations. To perform this study, Nose-Hoover dynamics and Sutton-Chen interatomic potential will be used to investigate the behaviour of the aforementioned system. Pushing of Au clusters on Au substrate has been chosen as illustrative examples. Dependency of the aforementioned behaviour on temperature has been investigated. Higher temperature affects the pushing success level considerably. In addition, the simulation was performed for Ag cluster as well to compare the performance to one for Au cluster. Copyright © 2010 Inderscience Enterprises Ltd.

关键词： Molecular dynamics

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Qualitative study of nanoassembly process: 2-D molecular dynamics simulations

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Scientia Iranica 2010年第1 F期17卷 1-11页

作者： Mahboobi, S.H. Meghdari, A. Jalili, N. Amiri, F. Institute for Nanoscience and Nanotechnology Sharif University of Technology P.O. Box: 14588-89694 Tehran Iran Piezoactive Systems Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology P.O. Box 11155-9567 Tehran Iran

Precise positioning of nanoclusters through manipulation in the presence of other clusters is one of the main challenging tasks in nanoclusters assembly. Currently, the size of clusters which are used as building blocks is decreasing to a few nanometers. As a result, the particle nature of the matter has a crucial role in manipulator/cluster/substrate interactions. In order to understand and predict the behavior of nanoclusters during the positioning process, it is, therefore, essential to have a deep insight into the aforementioned nanoscale interactions, in this research, 2-D molecular dynamics simulations are used to investigate such behaviors. Performing the planar simulations can provide a rather satisfactory qualitative instrument for our aim while the computation time is considerably decreased in comparison with 3-D simulations. The system considered here is made up of a tip, two clusters and a substrate. The main focus here is on metallic nanoclusters. In order to study the behavior of the above system which is made up of different transition metals, Nose-Hoover dynamics and Sutton-Chen interatomic potential are used. Furthermore, the effect of the material characteristics, tip form and manipulation scheme on the success of the process are examined. Such qualitative simulation studies can pave the pathway towards certain nanopositioning scenarios when considering different working conditions before consuming largescale computation time or high experimental expenses. © Sharif University of Technology, June 2010.

关键词： Molecular dynamics

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Design and analysis of a novel 8-DOF hybrid manipulator

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World Academy of Science, engineering and Technology 2009年 34卷 237-243页

作者： Mohammadipanah, H. Zohoor, H. School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of excellence in Design Robotics and Automation Sharif University of Technology Academy of Sciences Iran

This paper presents kinematic and dynamic analysis of a novel 8-DOF hybrid robot manipulator. The hybrid robot manipulator under consideration consists of a parallel robot which is followed by a serial mechanism. The parallel mechanism has three translational DOF, and the serial mechanism has five DOF so that the overall degree of freedom is eight. The introduced manipulator has a wide workspace and a high capability to reduce the actuating energy. The inverse and forward kinematic solutions are described in closed form. The theoretical results are verified by a numerical example. Inverse dynamic analysis of the robot is presented by utilizing the Iterative Newton-Euler and Lagrange dynamic formulation methods. Finally, for performing a multi-step arc welding process, results have indicated that the introduced manipulator is highly capable of reducing the actuating energy.

关键词： Degrees of freedom (mechanics)

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Gait control of modular climbing caterpillar robot

Gait control of modular climbing caterpillar robot

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： W. Wang H. X. Zhang K. Wang J. W. Zhang W. H. Chen Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Dept of Informatics University of Hamburg Beijing Germany Department of Computer Science University of Hamburg Hamburg Germany Robotics Institute Beijing University of Aeronautics and Astronautics Beijing China Center of Electrical and Electronics Engineering Beijing University of Aeronautics and Astronautics Beijing China

The concept of a modular climbing caterpillar robot is inspired by the kinematics of the real caterpillar. Due to the fixed constraints between the suckers and wall, the gait of the caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain, and then to an open chain orderly. This paper investigates the joint control methods of the gait in detail. During the open chain periods, an Unsymmetrical Phase Method (UPM) is applied to ensure the reliable attachment of the passive suckers to the wall. But in the closed chain state, a four links kinematics model is adopted to fulfill the fixed constraints produced by the attached suckers. By combining the two methods together, we acquire complete joint control trajectories for a modular caterpillar robot with seven joints. At the end of this paper, on-site tests confirm the above principles and the validity of the climbing gait.

关键词： Legged locomotion Kinematics Climbing robots robotics and automation Mobile robots Intelligent robots Mechanical engineering Computer science Joining processes Tail

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Stability Investigation of a Robotic Swarm with Limited Field of View

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IFAC Proceedings Volumes 2008年第2期41卷 10794-10799页

作者： S. Etemadi A. Alasty G. Vossoughi Center of Excellence in Design Robotics and Automation (CEDRA) School of Mechanical Engineering Sharif University of Technology Azadi Ave. Tehran Iran

This paper presents an analytical study of swarm motion in a quasi static environment, in which, motion of each member is being affected by interactive forces and agents. Interactive effects on each member could be attractive or repulsive due to being far from or close to other members respectively. An agent also can be attractive or repulsive. The method is based on Lyapunov analysis. The aim is to preserve the unity of swarm i.e. not losing any member through motion, while being under influence of an agent. It is also considered that field of view of swarm members is limited; which is the most important characteristic of this work.

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