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STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS

Journal of Pharmaceutical Analysis 2006年第2期18卷 102-105,117页

作者：张政马书根李斌张力平曹秉刚 School of Mechanical Engineering Xi'an Jiaotong University Xi'an 710049 China Faculty of Engineering Ibaraki University 316-8511Japan University Robotics Laboratory Shenyang Institute of Automation Shenyang 110016 China

Objective To study mechanics characteristics of two cooperative reconfigurable planetary robots when they get across an obstacle, and to find out the relationship between the maximum height of a stair with the configuration of the two-robot, and to find some restrictions of kinematics for the cooperation. Methods Multirobot cooperation theory is used in the whole study process. Inverse kinematics of the robot is used to form a desired configuration in the cooperation process. Static equations are established to analyze the relations between the friction factor, the configuration of robots and the maximum height of a stair. Kinematics analysis is used to find the restrictions of the two collaborative robots in position, velocity and acceleration. Results 3D simulation shows that the two cooperative robots can climb up a stair under the condition of a certain height and a certain friction factor between robot wheel and the surface of the stair. Following the restrictions of kinematics, the climbing mission is fulfilled successfully and smoothly. Conclusion The maximum height of a stair, which the two cooperative robots can climb up, is involved in the configuration of robots, friction factor between the stair and the robots. The most strict restriction of the friction factor does not appear in the horizontal position. In any case, the maximum height is smaller than half of the distance between the centroid of robot1 with the centroid of robot2. However, the height can be higher than the radius of one robot wheel, which profit from the collaboration.

关键词： multi-robot system cooperation reconfigurable planetary robot statics analysis

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Vibrational Analysis of Multi Layer Microplates Considering Nonlinear Squeeze Film Damping and Electrostatic Actuation

Vibrational Analysis of Multi Layer Microplates Considering ...

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The second Asia-Pacific International Conference on Computational Methods in engineering（ICOME2006）

作者： M.T.Ahmadian M.Moghimi Zand M.Bonakdar Center of Excellence in Design Robotics and Automationschool of mechanical engineeringSharif University of Technology

This paper presents a model to analyze vibrational behavior of multi layer microplates. First-order shear deformation theory is used to model dynamical system using finite element method, While finite difference method is applied to solve nonlinear Reynolds equation of squeeze film damping .Using this model, dynamic and static Pull- in analysis of multi layer microplates are studied. Vibrational behavior of single layer and multi layer microplates are analyzed to compute resonance frequencies and mode shapes of the system. Also, under the actuation of step- input voltage, response frequencies of the dynamic system is calculated considering nonlinear squeeze film damping. Results for simplified single layer microplates are validated and in good agreement with the published literature. This investigation can be implemented in the design of multi layer microplates.

关键词： Vibration Squeeze Film Damping Pull-in Multi Layer Microplates Electrostatic

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Parameterization of All Stabilizing Hc. Static State-Feedback Gains: Application to Output-Feedback Design

Parameterization of All Stabilizing Hc. Static State-Feedbac...

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IEEE Conference on Decision and Control

作者： J. Gadewadikar F. Lewis L. Xie V. Kucera M. Abu-Khalaf Automation and Robotics Research Institute Arlington USA Electrical Engineering Automation and Robotics Research Institute Arlington USA School of Electrical and Electronic Engineering Nanyang Technological University Singapore Center for Applied Cybernetics Control Engineering Czech Technical University Prague Czech Republic Adjunct Instructor Electrical Engineering Automation and Robotics Research Institute Arlington USA

This paper presents a simplified parameterization of all H infin static state feedback controllers in terms of a single algebraic Riccati equation and a free parameter matrix. As a special case, necessary and sufficient conditions for the existence of an H infin static output feedback gain are given. An efficient computational algorithm is given. No initial stabilizing output feedback gain is needed. The technique is used to design an H infin lateral-directional command augmentation system for the F-16 aircraft

关键词： Riccati equations Output feedback robotics and automation Nonlinear equations State feedback Optimal control Vehicle dynamics Aerodynamics Symmetric matrices Control systems

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CONTROL OF A BIOMIMETIC “SOFT-ACTUATED” LOWER BODY 10DOF EXOSKELETON

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IFAC Proceedings Volumes 2006年第15期39卷 785-790页

作者： Nelson R.S. Costa Darwin G. Caldwell Centre for Robotics and Automation School of Computing Science and Engineering – University of Salford M5 4WT UK Phone: +*** – FAX +***

Currently many patients with brain/spinal cord/sport injuries or stroke, are confined to wheelchairs which results in many secondary conditions. Locomotor training attempts to encourage the patient to undertake walking exercises but the physical effort is such that there is poor compliance, as it requires a highly intensive and task-specific therapy approach. Powered Locomotor trainers aim to promote motor recovery, reducing this effort to a tolerable level encouraging higher levels of exercise, improved secondary health care and to obtain a better understanding of human motor walking gait. This paper will address the development and control of a lower limb exoskeleton for active assistive walking.

关键词： Exoskeleton walking control rehabilitation pneumatic muscle actuators muscle

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Intelligent Control of Powered Exoskeleton to Assist Paraplegic Patients Mobility using Hybrid Neuro-Fuzzy ANFIS Approach

Intelligent Control of Powered Exoskeleton to Assist Paraple...

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IEEE International Conference on robotics and Biomimetics

作者： A. Selk Ghafari A. Meghdari G.R. Vossoughi Center of Excellence in Design Robotics and Automation (CEDRA) School of Mechanical Engineering Sharif University of Technology Tehran Iran

Integrating humans and robotics technology into one system offers multiple opportunities for creating assistive technologies that can be employed in biomechanical, industrial, and aerospace applications. The present study deals with employing the adaptive neuro-fuzzy inference system (ANFIS) approach in rule base derivation for powered exoskeleton intelligent control to assist paraplegic patient mobility. By employing the hybrid learning algorithm, optimal distributed membership functions to describe the mapping relation in the input and output parameters of the gait cycle were derived. As the proposed control strategy was unaffected by changing human dynamics, the reliability and robustness of the controller for safe interaction with humans were increased.

关键词： Intelligent control Exoskeletons Humans Aerospace industry Service robots Electrical equipment industry Industrial relations Adaptive systems Programmable control Adaptive control

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Robust adaptive control for complex systems employing ANN emulation of nonlinear functions

Robust adaptive control for complex systems employing ANN em...

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8th Seminar on Neural Network Applications in Electrical engineering, Neurel-2006

作者： Dimirovski, Georgi M. Jing, Yuanwei Zhang, Yanxin Vukobratovic, Miomir K. IEEE Dogus University Department of Computer Engineering Acibadem - Kadikoy 34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Skopje Macedonia School of Information Science and Engineering Northeastern University Shenyang China Mihailo Pupn Institute Laboratory of Robotics and Flexible Automation Karaburma 11000 Belgrade Serbia

ISBN: (纸本)1424404339

A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been derived. This approach makes an adequate use of the structural feature of composite similarity systems and neural networks to resolve the representation issue of uncertainty interconnections and subsystem gains by on-line updating the weights. This synthesis does guarantee the real stability in closed-loop but requires skills to obtain larger attraction domains. Mechatronic example of an axis-tray drive system, possessing uncertainties, is used to illustrate the proposed technique. © 2006 IEEE.

关键词： Neural networks

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Adaptive robust LQR control with the application to the yaw control of small-scale helicopter

Adaptive robust LQR control with the application to the yaw ...

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2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Xingang, Zhao Zhe, Jiang Jianda, Han Guangjun, Liu Robotics Laboratory Shenyang Institute of Automation Nanta street 114# Shenyang 110016 China Graduate School Chinese Academy of Science Beijing 100039 China Department of Aerospace Engineering Ryerson University 350 Victoria Street Toronto Ont. Canada

ISBN: (纸本)1424404665

This paper presents a new robust controller design approach to the yaw control of a small-scale helicopter mounted on an experimental platform. The yaw dynamic system is linearized into a linear system, which is modelled by an affine uncertainty model. We proposed a novel robust LQR feedback controller with adaptive mechanisms for the linear system with guaranteed control performance. The feedback gains are obtained by the solutions of a series of linear matrix inequalities (LMIs). The design approach reduces conservatism inherent in robust control with a fixed gain controller and improves performances in time-response. Numerical simulations illustrate the theoretical developments. ©2006 IEEE.

关键词： Control theory

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Hybrid Model of WT and ANFIS and Its Application on Time Series Prediction of Ship Roll Motion

Hybrid Model of WT and ANFIS and Its Application on Time Ser...

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Computational engineering in Systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Hui Li Chen Guo Simon X. Yang Hongzhang Jin Automation and Electrical Engineering College Dalian Maritime University Dalian China Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Canada Automation College Harbin Engineering of Technology Harbin China

Based on the multi time and frequency scale and the nonlinear character of ship roll motion, a hybrid model prediction approach combining wavelet transform (WT) and adaptive neuro-fuzzy inference system (ANFIS) is proposed in this paper. By using multi-resolution nalysis (MRA) of WT, multilevel 1-D wavelet decompositions of roll motion are completed to obtain simple and regular period signals. Then the multiple-input/single-output (MISO) ANFIS model is employed as prediction model for the main decomposed signals above. Finally, a prediction result is given through linear combination. The simulation experiments demonstrate the proposed method can effectively reduce the prediction difficulty and obtain better prediction precision. This method can also be used in ship pitch and heave motion prediction

关键词： Predictive models Marine vehicles Wavelet analysis Wavelet transforms Multiresolution analysis Wavelet domain robotics and automation Educational institutions Intelligent robots Frequency

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System design and kinematic analysis to motion control for RPRS

System design and kinematic analysis to motion control for R...

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6th World Congress on Intelligent Control and automation, WCICA 2006

作者： Wang, Minghui Shugen, Ma. Li, Bin Wang, Yuechao Zhang, Liping Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences 110016 Shenyang China COE Research Institute Ritsumeikan University 525-8577 Shiga-ken Japan Graduate School Chinese Academy of Sciences 100039 Beijing China School of Mechanical Engineering Xi'An Jiaotong University Xi'an 710049 China

ISBN: (纸本)1424403324

This paper addresses the modularized structure of the control system and kinematic analysis to motion control for a new planetary rover, Reconfigurable Planetary Robot System (RPRS). In the RPRS, a child-robot with a 6-DOF arm and a wheel can independently locomote and manipulate. Furthermore, the child-robots have self-reconfiguration capability so that multiple child-robots can construct and reconfigure to diverse configurations. Based on distributed controller and CAN, the structure and functions of the control system are decomposed to different modules with independent controllers. The control flow with distributed computation is introduced. The kinematic and inverse kinematic solutions are both educed. The results of this research are also demonstrated through the simulation and experiments of the prototypes. © 2006 IEEE.

关键词： Mobile robots

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JADE and JXTA Extensions for the Implementation of Distributed Systems

JADE and JXTA Extensions for the Implementation of Distribut...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Edward Chen Dorian Sabaz William A. Gruver School of Engineering Science Intelligent/Distributed Enterprise Automation Laboratory Simon Fraser University Intelligent Robotics Corporation BC Canada

A distributed system appears to be a promising approach to resolving critical networking limitations prevalent in a centralized topology. Extensions are required to current distributed software platforms to facilitate a better distributed system. This paper examines the architecture of two distributed software platforms, JADE and JXTA and proposes architectural extensions for a better distributed system. The extensions are discussed and implemented. It is shown that JADE is a superior platform in terms of efficient and latency, mainly due to the partially centralized approach of its agent management system. JXTA has advantages due to its de-centralized management system and unrestricted scalability.

关键词： Network topology Scalability Web server Internet Robustness Network servers Java Intelligent agent Intelligent robots Databases

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