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检索条件"机构=Systems Engineering Robotics Laboratory"

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Voluntary gait speed adaptation for robot-assisted treadmill training

Voluntary gait speed adaptation for robot-assisted treadmill...

引用

IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Alexander Koenig Carmen Binder Joachim v. Zitzewitz Ximena Omlin Marc Bolliger Robert Riener Spinal Cord Injury Center Medical Faculty University Hospital Balgrist University of Zurich Zurich Switzerland Sensory Motor Systems Laboratory Institute of Robotics and Intelligent Systems Department of Mechanical Engineering and Process Engineering ETH Zurich Switzerland

Robot-assisted gait training currently lacks the possibility of the robot to automatically adapt to the patient's needs and demands (so called ldquobio-cooperative control strategiesrdquo). It is desired to give the patient voluntary control over training parameters such as gait speed or joint trajectories. We implemented a control algorithm for the driven gait orthosis Lokomat that allows severely disabled stroke patients a limited and safe allowance of influence on their gait speed. To exercise gait symmetry, our algorithm can be configured such that only activity in the paretic leg will cause changes in treadmill speed. The algorithm was successfully tested with eight healthy subjects and six stroke patients.

关键词： Rehabilitation robotics Legged locomotion Medical treatment robotics and automation Automatic control Hospitals Force measurement Virtual environment Robot sensing systems Intelligent robots

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Learning Under Social Influence

Learning Under Social Influence

引用

Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Alireza Tahbaz-Salehi Alvaro Sandroni Ali Jadbabaie Department of Economics and Department of Electrical and Systems Engineering University of Pennsylvania Department of Managerial Economics and Decision Sciences Kellogg School of ManagementNorthwestern University the General Robotics AutomationSensing and Perception(GRASP) LaboratoryDepartment of Electrical and Systems EngineeringUniversity of Pennsylvania

In this paper,we study a model of social learning where individuals are under influence of others in their social *** our model,each agent receives private noisy signals about an unobservable,underlying state of the *** the end of each time period,the belief of an individual is equal to the convex combination of her posterior beliefs derived from the signal observed,and the priors of her *** model reduces to the well-known consensus model when private signals are *** show that if the network of social influences is strongly connected,then all agents will have asymptotically correct *** other words,all individuals will be able to asymptotically learn the true state of the world,as far as their observations are ***,we show that all agents assign asymptotically equal beliefs to the true state of the world.

关键词： agent Learning Under Social Influence

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Superparamagnetic photosensitive polymer nanocomposite for microactuators

Superparamagnetic photosensitive polymer nanocomposite for m...

引用

International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： M. Suter S. Graf O. Ergeneman S. Schmid A. Camenzind B. J. Nelson C. Hierold Micro and Nanosystems ETH Zurich Switzerland Institute of Robotics and Intelligent Systems ETH Zurich Switzerland Particle Technology Laboratory Department of Mechanical and Process Engineering ETH Zurich Switzerland

We present a photosensitive polymer composite with superparamagnetic characteristics for the fabrication of microactuators. A uniform distribution of particles in the photosensitive polymer matrix SU-8 is achieved by applying superparamagnetic nanoparticles with the aid of a surfactant. The composite contains Fe 3 O 4 nanoparticles up to 3 vol.% (12 wt.%) with diameters of around 13 nm. Superparamagnetic composite microcantilevers are successfully fabricated and actuated in resonance by the magnetic field of an external coil.

关键词： Polymers Microactuators Magnetic materials Saturation magnetization Magnetic resonance Magnetic anisotropy Fabrication Nanoparticles Perpendicular magnetic anisotropy Actuators

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Experimental study on manipulator design for low collision impact force

Experimental study on manipulator design for low collision i...

引用

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

作者： Yusuke Sugahara Keigo Noha Kazuhiro Kosuge Jun'ichiro Ooga Hideichi Nakamoto Takashi Yoshimi Department of Bioengineering and Robotics University of Tohoku Sendai Japan Department of Bioengineering and Robotics University of Tohoku Japan Mechanical Systems Laboratory Corporate Research & Development Center Toshiba Corporation Kawasaki Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan

This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated.

关键词： Humans Actuators Manipulators Safety Service robots Orbital robotics Robot sensing systems Gears Hardware Force control

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Fuzzy machine vision based porosity detection

Fuzzy machine vision based porosity detection

引用

Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Pejman Mehran Kudret Demirli Gary Bone Brian Surgenor Intelligent Fuzzy Systems Laboratory Department of Mechanical and Industrial Engineering Concordia University Montreal QUE Canada Robotics and Manufacturing Automation Lab Department Mechanical Engineering McMaster University Hamilton ONT Canada Intelligent Automation Laboratory Department of Mechanical and Materialś Engineering Queen's University Kingston ONT Canada

In this paper an objective fuzzy approach for fast and accurate porosity vision based inspection is presented. An automated methodology of detection of pores, which are formed in aluminum alloys during production of water-pumps for car engines with the die casting method, is described. The proposed method is based on the correlation of the core of pore candidates with twelve developed matrices resulted in five novel features. The fuzzy decision making on porosity detection adopted and presented in this paper, adds great value to the whole production system, by increasing the confidence of the inspectors in the machine performing real-time verification. The fuzzy porosity detection was carried out on a database of 105 gray level images. The proposed model properly identifies 93.36% of the pores in the entire database.

关键词： Machine vision Image databases Inspection Aluminum alloys Engines Die casting Fuzzy systems Decision making Production systems Real time systems

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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

引用

IEEE International Workshop on Imaging systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining Computer industry Electrical products industry

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Control system for reactor vessel inspection manipulator

Control system for reactor vessel inspection manipulator

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： Alan Mutka Ivica Draganjac Zdenko Kovacic Zeljko Postruzin Ranko Munk Faculty of EE&C Department of Control and Computer Engineering LARICS-Laboratory of Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia Organization of Technology Development and Application HRID Limited Zagreb Croatia

In this paper a system for control and 3D visualization of a manipulator for weld inspection of nuclear reactor vessels is described. Based on client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. In addition, the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.

关键词： Control systems Inductors Inspection Welding Parallel robots Visualization TCPIP Software architecture Graphical user interfaces Trajectory

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NanoLab: A nanorobotic system for automated pick-and-place handling and characterization of CNTs

NanoLab: A nanorobotic system for automated pick-and-place h...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Volkmar Eichhorn Sergej Fatikow Tim Wortmann Christian Stolle Christoph Edeler Daniel Jasper Ozlem Sardan Peter Boggild Guillaume Boetsch Christophe Canales Reymond Clavel Division Micro Robotics and Control Engineering University of Oldenburg Oldenburg Germany DTU Nanotech Department of Micro and Nanotechnology Technical University of Denmark Denmark Robotic Systems Laboratory Swiss Federal Institute of Technology Lausanne Switzerland

Carbon nanotubes (CNTs) are one of the most promising materials for nanoelectronic applications. Before bringing CNTs into large-scale production, a reliable nanorobotic system for automated handling and characterization as well as prototyping of CNT-based components is essential. This paper presents the NanoLab setup, a nanorobotic system that combines specially developed key components such as electrothermal microgrippers and mobile microrobots inside a scanning electron microscope. The working principle and fabrication of mobile microrobots and electrothermal microgripper as well as their interaction and integration is described. Furthermore, the NanoLab is used to explore novel key strategies such as automated locating of CNTs for pick-and-place handling and methods for electrical characterization of CNTs. The results have been achieved within the framework of a European research project where the scientific knowledge will be transfered into an industrial system that will be commercially available for potential customers.

关键词： Electrothermal effects Grippers Carbon nanotubes Organic materials Nanostructured materials Large-scale systems Production systems Prototypes Electron mobility Scanning electron microscopy

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Knowledge-based control of a humanoid robot

Knowledge-based control of a humanoid robot

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dongkyu Choi Yeonsik Kang Heonyoung Lim Bum-Jae You Cognitive Systems Laboratory Center for the Study of Language and Information University of Stanford Stanford CA USA Center for Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea Robust Design Engineering Laboratory Seoul National University Seoul South Korea

Today, there are increased interest and various efforts in using cognitive architectures to control robotic platforms. Recent advances to essential capabilities in robots contributed to this trend, which tries to meet the increased demand for high-level control mechanisms. The tradition of cognitive architectures aims for general intelligence, and they have some great potential for use in robots that are now increasingly more capable of complex tasks. In this paper, we introduce one such architecture, ICARUS, used in a robotic environment to provide knowledge-based control for a humanoid robot, MAHRU. We show some experimental observations in the Blocks World domain.

关键词： Humanoid robots Cognitive robotics Computer architecture Intelligent robots Computational modeling Control systems Robot control USA Councils Humans Cognition

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Climbing gaits of a modular biped climbing robot

Climbing gaits of a modular biped climbing robot

引用

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

作者： Yisheng Guan Li Jiang Xianmin Zhang Hong Zhang Biomimetic and Intelligent Robotics Laboratory (BIRL) School of Mechanical and Automotive Engineering South China University of Technology Guangzhou Guangdong China Centre for Intelligent Mining Systems (CIMS) Department of Computing Science University of Alberta Edmonton AB Canada

For high-rise work in fields such as agriculture, forestry and architecture, and inspired by the climbing motion of inchworms, chimpanzees, and sloths, we have developed a biped climbing robot - Climbot. Consisting of five 1-DOF joint modules in series and two special grippers at the ends, Climbot is capable of grasping objects and climbing poles, trees and trusses. In this paper, we first introduce this novel robot, and then present three climbing gaits. We perform simulation to illustrate, verify and compare the proposed climbing gaits.

关键词： Climbing robots Medical robotics Prototypes Intelligent robots Agriculture Forestry Service robots Orbital robotics Intelligent vehicles Humans

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