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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Oskouei, Seyed Babak Ghaemi Ahmadian, Mohammad Taghi Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Azadi Ave. Tehran Iran

ISBN: (纸本)0791837904

Micro-electromechanical systems (MEMS) have wide application in the development of sensors for the detection of magnitudes in almost any domain [1]. Resonant mode operation of micro and nano-scale oscillators have gained wide interest for applications including filters, amplifiers, non-linear mixers, atomic scale imaging, biological and chemical sensors. The device that we propose is an electrically actuated microcantilever beam. More precisely, in our design the microcantilever constitutes the movable plate of a micro-capacitor and its displacement is controlled by the voltage applied across the plates. Review of literature shows that the electric field pattern between the beam and the substrate has always been assumed to be straight parallel lines normal to the substrate. In reality the electric field must be normal both to the substrate and the beam. Considering this phenomenon, the force exerted on the beam should always be normal to its surface and as the beam's curvature increases, the direction of the force also deviates proportionally. Copyright © 2006 by ASME.

关键词： MEMS

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Control of a biomimetic "soft-actuated" lower body 10dof exoskeleton

Control of a biomimetic "soft-actuated" lower body 10dof exo...

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作者： Costa, Nelson R.S. Caldwell, Darwin G. Centre for Robotics and Automation School of Computing Science and Engineering University of Salford M5 4WT United Kingdom

ISBN: (纸本)9783902661166

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. Copyright © 2006 IFAC.

关键词： Muscle

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A target differentiation algorithm of multi-neural-network based on rough set for mobile robot

A target differentiation algorithm of multi-neural-network b...

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

作者： Xin, Ma. Liu, Wei Li, Yibin Chen, Weidong Xi, Yugeng Centre for Robotics School of Control Science and Engineering Shandong University Jinan Shandong Province China Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)1424403324

Aiming at the uncertainty of sonar data in the problem of sonar-based target differentiation for mobile robot, the paper firstly presents a hierarchical reduction approach to reduce a sonar data set based on rough set theory. Then on the basis of the reduction, a multi-neural network based target differentiation algorithm is designed on the fact that the effective combination of multiple neural networks can increase the ability to pattern classification and generalization of the whole system. Parallel network architecture is adopted locally to increase the differentiation accuracy. And the average weighed strategy is applied to fuse the outputs of the parallel neural network classifiers to improve the robustness of the differentiation system to noise, physically plausible failure and missing sonar data situation. The simulation experiments prove that the new method combining with the traditional target differentiation algorithm can increase the accuracy of sonar-based target differentiation for mobile robot in indoor environments. © 2006 IEEE.

关键词： Mobile robots

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Chaos control using pid and lead compensator based on fuzzy gain scheduling technique

Chaos control using pid and lead compensator based on fuzzy ...

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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Tafti, Sayyed Rouhollah Jafari Radparvar, Yousha Salarieh, Hassan Alasty, Aria Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology P.O.Box 11365-9567 Tehran Iran

ISBN: (纸本)0791837904

In this paper, a new method for tracking a desired path in nonlinear chaotic systems is presented. This method is based on using fuzzy gain scheduling in designing PID controller and Lead compensator. Using two standard controllers, PID and Lead, instead of complicated and costly nonlinear controllers is the main advantage of the proposed control system. PID controller has a stabilizing role whereas Lead compensator improves the performance of the system to track the desired path properly. To determine the PID and Lead gains, the nonlinear system is linearized around some working points which are the points of the desired path in specified times, and the gains are designed for each linearized system. Using a Sugeno system as a fuzzy gain scheduler, PID and Lead gains are determined in each time and are applied to the control system to make the nonlinear system track the desired path. To verify the presented method, Duffing equation as a chaotic system is considered to be controlled to which the proposed procedure is applied. Simulation results show the effectiveness of fuzzy gain scheduling in making the nonlinear system track different desired paths more smoothly. Copyright © 2006 by ASME.

关键词： Three term control systems

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Online prediction of plate deformations under external forces using neural networks

Online prediction of plate deformations under external force...

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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Ahmadian, M.T. Mobini, A. Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology P.O. Box 11365-9567 Tehran Iran

ISBN: (纸本)0791837904

Recently online prediction of plate deformations in modern systems have been considered by many researchers, common standard methods are highly time consuming and powerful processors are needed for online computation of deformations. Artificial neural networks have capability to develop complex, nonlinear functional relationships between input and output patterns based on limited data. A good trained network could predict output data very fast with acceptable accuracy. This paper describes the application of an artificial neural network to identify deformation pattern of a four-side clamped plate under external loads. In this paper the distributed loads are approximated by a set of concentrated loads. An artificial neural network is designed to predict plate deformation pattern under external forces. Results indicate a well trained artificial neural network reveals an extremely fast convergence and a high degree of accuracy in the process of predicting deformation pattern of plates. Additionally this paper represents application of neural network in inverse problem. This part illustrates the capability of neural networks in identification of plate external loads based on plate deformations. Load identification has many applications in identification of real loads in machineries for design and development. Copyright © 2006 by ASME.

关键词： Neural networks

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Dynamic finite element modeling of electrostatical actuated micro structures considering squeeze film damping effect

Dynamic finite element modeling of electrostatical actuated ...

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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Ahmadian, M.T. Borhan, Hoseinali Moghimi Zand, M. Sharif University of Technology Center of Excellence for Design Robotics and Automation School of Mechanical Engineering P.O. BOX 11365-9567 Tehran Iran

ISBN: (纸本)0791837904

Developing a transient fully-meshed model of coupled-domain microsystems is of paramount importance not only for accurate simulation and design but also for creating more accurate low-order or macro dynamic models. So in this paper, a complete nonlinear finite element model for coupled-domain MEMS devices considering electrostatic and squeeze film effects is presented. For this purpose, we use the Galerkin weighted-residual technique for developing the finite element model that capture the original microsystem's nonlinear behaviors, such as the structural dynamics, the squeeze-film damping, the electrostatic actuation and the geometric nonlinearity caused by inherent residual stresses. In addition, using the Newmark's nonlinear solution technique, the extracted dynamic equilibrium equations are discretised and simulated. The system dynamic behavior is successfully modeled by using the developed nonlinear finite element model and finally some simulated results of electrostatic micro-actuator behaviors are verified with experimental findings and are in very good agreement. Copyright © 2006 by ASME.

关键词： Thin films

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Closed-loop finite element modeling for analysis of smart structures in ansys environment

Closed-loop finite element modeling for analysis of smart st...

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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Mahboobi, Seyed Hanif Shahidi, Alireza Abedian, Ali Meghdari, Ali Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran School of Mechanical Engineering Sharif University of Technology Tehran Iran Department of Aerospace Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)0791837904

It would be promising if one can simulate the closed-loop behavior of a smart system in an available FEM software such as "ANSYS". The ANSYS/Multiphysics software has the ability of coupling different physical domains and also modeling smart materials such as piezoelectric and piezoresistives, i.e. it has the capability of modeling smart structures. The dynamic modeling of the controlled structures is then realized by the ANSYS programming tool. This aspect highly facilitates the overall system behavior analysis and at the same time various control methods can be tested without noticing the time consuming structural analysis involved. In this research work, it is tried the mentioned idea to be implemented and some control strategies for the structural active damping to be examined. Copyright © 2006 by ASME.

关键词： Intelligent structures

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

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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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