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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Yi Sun Shugen Ma Kazuhiro Fujita Yang Yang Huayan Pu Department of Robotics Ritsumeikan University 525-8577 Shiga Japan School of Mechatronics Engineering and Automation Shanghai University 149 Yanchang Road Shanghai China.

ISBN: (纸本)9781467317375

To enhance the mobility of amphibious robots for multi-terrains tasks, we have proposed an eccentric paddle locomotion mechanism (ePaddle) with several feasible terrestrial and aquatic gaits. In this paper, we present a rigid paddle model for predicting the thrust force in one of the aquatic gaits, namely the rotational paddling gait. Thrust forces calculated by this model demonstrate the idea that by relocating the paddle shaft eccentrically from its wheel center, the rotating paddles will generate vectored thrust force for swimming. The paddling motion and the validity of the rigid paddle model are verified by experiments in a water tank.

关键词： Rotational Paddling ePaddle-Based Amphibious Robot aquatic gaits thrust Blades water-tanks Gait Robot rotating cascade Wheels Rotational Locomotion

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A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach

A fault tolerant control strategy for quadrotor UAVs based o...

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IEEE International Conference on Mechatronics and automation

作者： Hao Jiang Yushu Yu Xilun Ding J. Jim Zhu Beihang University Beijing CN Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Department of EECS Ohio University Athens Athens USA

ISBN: (纸本)9781467312752

Fault tolerant control on quadrotors has recently gained more and more attention. A proper fault tolerant control strategy can improve the vehicle's performance in the presence of benign faults, and even save the vehicle and valuable payload in case of severe faults. This paper presents a new fault tolerant control strategy based on Trajectory Linearization Control approach with a special method of transformation from quadrotor mode to tri-rotor mode, and an introduction of extra control DOF. Meanwhile, control command saturation is considered in the proposed fault tolerant control strategy. The maximum fault tolerant capacity for the nominal controller is estimated and specific control strategies are presented according to fault classification. Simulations in the SIMULINK/MATLAB environment are presented to verify the control strategy.

关键词： Conferences Mechatronics automation

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Finite-time adaptive distributed control for double integrator leader-agent synchronisation

Finite-time adaptive distributed control for double integrat...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Muhammad Nasiruddin Mahyuddin Guido Herrmann Jing Na Frank L. Lewis Department of Mechanical Engineering University of Bristol UK School of Electrical and Electronic Engineering Universiti Sains Malaysia Malaysia Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming China Electrical Engineering Automation and Robotics Research Institute University of Texas Arlington USA

A finite-time adaptive distributed control algorithm for second-order, double integrator-type agents is suggested to achieve consensus with a second order controlled leader. For this, a recently suggested finite-time adaptive estimator is designed for each agent using only local agent information. This adaptive estimator is driven via direct parameter estimation error information and a nonlinear formulation of the consensus error, which guarantees finite-time consensus. The parameter error information, computed through auxiliary filters for each agent, ensures convergence via a sliding-mode type unit vector in the estimation algorithm. This algorithm is suitably combined with a finite-time consensus control algorithm, enhancing recently suggested adaptive consensus algorithms in terms of robustness, parameter estimation and convergence speed. Suitable comparative simulation examples provide practically relevant evidence.

关键词： Vectors Synchronization Convergence Switches Heuristic algorithms Lead Parameter estimation

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Control of a Spherical Robot: Path Following Based on Nonholonomic Kinematics and Dynamics

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Chinese Journal of Aeronautics 2011年第3期24卷 337-345页

作者： ZHENG Minghui ZHAN Qiang LIU Jinkun CAI Yao Robotics Institute Beihang University Beijing 100191 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China

This paper presents the controller design for the path following of a spherical mobile robot, BHQ-1. Firstly, a desired velocity for the reference path is deduced from the kinematic model, which cannot be transformed into the classic chained form. Secondly, a necessary torque for the desired velocity is obtained based on the dynamic model. As to the kinematics, a one-dimensional function is selected to measure the two-directional tracking error, and the velocity of rolling forward is reasonably assumed to be constant; therefore the multiple-input multiple-output （MIMO） system is transformed into a single-input single-output （SISO） system. As to the dynamics, both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account, based on which a proportional-derivative （PD） controller and a sliding mode controller with adaptive parameters are proposed respectively. Finally, convergence analysis and simulation results are provided to validate these controllers.

关键词： spherical robot path following nonholonomic kinematics dynamics

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Investigation of dirty area recognition for coin

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International Journal of Advancements in Computing Technology 2012年第19期4卷 374-381页

作者： Gao, Hongwei Jiang, Yueqiu Li, Bin School of Information Science and Engineering Shenyang Ligong University Shenyang 110159 China Communication and Network Institute Shenyang Ligong University Shenyang 110159 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

Coin can be destroyed during the usage if there are some dirty, corrosion, deformity and abrasion areas on the coin surface which can impact the continuous usage of coin. Some key technologies for dirty area recognition are especially investigated in this paper. Firstly, the dirty area recognition and quantitative algorithm are developed according to the statistic results of different material coin. The algorithms which are based on fuzzy intent judgment algorithm can automatically calculate the disfigurement area. Secondly, in order to prove the effectiveness and robustness of the algorithm, repeated test of relevant algorithm is researched. The experiment results prove the validity and practicability of the related algorithms.

关键词： Coin Dirty Recognition Disfigurement Fuzzy Intent Judgment

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New self-calibration approach to space robots based on hand-eye vision

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Journal of Central South University 2011年第4期18卷 1087-1096页

作者：刘宇刘宏倪风雷徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

To overcome the influence of on-orbit extreme temperature environment on the tool pose(position and orientation) accuracy of a space robot,a new self-calibration method based on a measurement camera(hand-eye vision) attached to its end-effector was *** the relative pose errors between the two adjacent calibration positions of the space robot,the cost function of the calibration was built,which was different from the conventional calibration *** particle swarm optimization algorithm(PSO) was used to optimize the function to realize the geometrical parameter identification of the space *** above calibration method was carried out through self-calibration simulation of a six-DOF space robot whose end-effector was equipped with hand-eye *** results showed that after calibration there was a significant improvement of tool pose accuracy in a set of independent reference positions,which verified the feasibility of the *** the same time,because it was unnecessary for this method to know the transformation matrix from the robot base to the calibration plate,it reduced the complexity of calibration model and shortened the error propagation chain,which benefited to improve the calibration accuracy.

关键词： space robot self-calibration cost function hand-eye vision particle swarm optimization algorithm

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Stability and transparency improvement in haptic device employing both MR-brake and active actuator

Stability and transparency improvement in haptic device empl...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Ozgur Baser E. ilhan Konukseven Hakan Gurocak Mechanical Engineering Department Middle East Technical University Turkey Robotics and Automation Laboratory Washington State University Vancouver WA USA Mechanical Engineering Department Middle East Technical University Cankaya Ankara Turkey School of Engineering and Computer Science Washington State University Vancouver WA USA

An ideal haptic device should transmit a wide range of stable virtual model impedances (Z-width) with high transparency. Magneto-rheological fluid (MR) brakes are advantageous in haptic devices since they are passive actuators. However, they cannot provide high transparency and smooth interaction due to high viscous friction, residual torque, slow response, sticking and hysteresis effects. On the other hand, active actuators cannot simulate high virtual impedances stably, but provide high transparency with a closed loop control algorithm. In the proposed hybrid actuation a task divider control (TDC) algorithm was developed for torque sharing between two actuators to provide a large Z-width and improve both transparency and smoothness. The algorithm employs two parameters which were estimated experimentally and extended to entire achievable impedance range by artificial neural network (ANN) and curve fitting techniques. A 1-DOF device having an excitation motor at the user side and brushless DC motor and MR-brake in the haptic side was used in the experiments. The excitation motor is used to generate a white noise torque input to simulate a user for frequency domain transparency tests. Results of the proposed and conventional closed loop impedance control (CLIC) algorithms were compared. The proposed algorithm improves the transparency of MR-brake by eliminating its drawbacks and presents a larger Z-width than the active actuator alone.

关键词： Actuators Torque Haptic interfaces Impedance Stability analysis Artificial neural networks Friction

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Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments

Wearable soft robotic device for post-stroke shoulder rehabi...

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ignacio Galiana Frank L. Hammond Robert D. Howe Marko B. Popovic Centre for Automation and Robotics UPM CSIC Madrid Spain Harvard School of Engineering and Applied Sciences Cambridge MA USA Harvard-MIT Division of Health Sciences and Technology Cambridge MA USA Worcester Polytechnic Institute Worcester MA USA

Stroke is the leading cause of long-term disability in the United States, affecting over 795,000 people annually. In order to regain motor function of the upper body, patients are usually treated by regular sessions with a dedicated physical therapist. A cost-effective wearable upper body orthotics system that can be used at home to empower both the patients and physical therapists is described. The system is composed of a thin, compliant, lightweight, cost-effective soft orthotic device with an integrated cable actuation system that is worn over the upper body, an embedded limb position sensing system, an electric actuator package and controller. The proposed device is robust to misalignments that may occur during actuation of the compliant brace or when putting on the system. Through simulations and experimental evaluation, it was demonstrated i) that the soft orthotic cable-driven shoulder brace can be successfully actuated without the production of off-axis torques in the presence of misalignments and ii) that the proposed model can identify linear and angular misalignments online.

关键词： Sensors Prototypes Mathematical model Actuators Orthotics Joints Position measurement

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A Robust Output Feedback Control Design for Uncertain Switched Fuzzy Systems

A Robust Output Feedback Control Design for Uncertain Switch...

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IEEE International Conference Intelligent Systems

作者： Vesna Ojleska Tatjana Kolemishevska-Gugulovska Imre J. Rudas SS Cyril and Methodius University in Skopje Faculty of Electrical Eng. and Information Technologies Institute of Automation & Systems Engineering Rugjer Boshkovik bb 1000 Skopje R. Macedonia School of Information Science & Robotics Obuda Univeristy H-1034 Budapest Hungary

ISBN: (纸本)9781467322768

The problem of robust output feedback control for a class of uncertain switching fuzzy time-delay systems via common Lyapunov function and multiple Lyapunov function methods is solved. Based on employing Parallel Distributed Compensation strategy, the fuzzy output feedback controllers are designed such that the corresponding closed-loop system possesses stability and robustness for all admissible uncertainties. An illustrative example and the respective simulation results are given to demonstrate the effectiveness and feasible control performance of the proposed design synthesis.

关键词： Fuzzy systems component nonlinear systems output feedback control switched systems uncertainty Output Feedback Control Liapunov function Fuzzy systems fuzzy time-delay systems Plant uncertain Simulation results Uncertainty control performance Robustness Induction loop systems

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An automatic compensation method on compression effect and surface elasticity measurement based on the deflection signal of AFM

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Science China(Technological Sciences) 2011年第9期54卷 2397-2403页

作者： WEI YangJie WU ChengDong DONG ZaiLi Graduate School of Chinese Academy of Sciences & the State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China School of lnformation Science & Engineering Northeast University Shenyang 110004 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

Atomic force microscope （AFM）, as an important instrument in micro/nano operation, has been widely used to measure sampie＇s height information. However, the so called compression effect, due to force aroused from the contact of AFM tip with a sample surface, would result in imprecision of the surface＇s height measurement, i.e., the measured height is lower than expected. Up to now, there is not any effective and rapid method to attenuate this kind of measurement error. Thus, in this paper, an algorithm to obtain high accurate height measurement is proposed. Firstly, the concept of force curve is used to analyze the basic principle of the compression effect. Secondly, an automatic compensation method by fusing the height signal and the deflection signal is proposed. The proposed algorithm can also be used to obtain a surface elasticity image. Finally, in order to validate the proposed method, two experiments are conducted with respect to mufti-wall nano-carbon tubes on a silicon substrate and graphemes on a mica substrate.

关键词： atomic force microscope （AFM） compression effect information fusion surface elasticity

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