检索结果-内蒙古大学图书馆

您好，读者！请登录

内蒙古大学图书馆

首页
概况
党建
资源
服务
科研支持
- 论文收录引用证明
- 科技查新
知识产权
档案馆
帮助

咨询与建议

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

您的常用邮箱：*

您的手机号码：*

问题描述：

当前已输入0个字，您还可以输入200个字

全部搜索
期刊论文
图书
学位论文
标准
纸本馆藏
外文资源发现
数据库导航
超星发现

高级检索

时间限定

出版年份：

文献类型

图书期刊文献学位论文多媒体

馆藏选择

电子馆藏纸本馆藏

核心期刊

全部期刊 SCI 收录期刊 SSCI 收录期刊 EI 收录期刊 CSCD 收录期刊 CSSCI 收录期刊

语言

中文英文

文献类型

期刊文献图书学位论文标准纸本馆藏

帮助

文字说明：

T=题名（书名、题名），A=作者（责任者），K=主题词，P=出版物名称，PU=出版社名称，O=机构（作者单位、学位授予单位、专利申请人），L=中图分类号，C=学科分类号，U=全部字段，Y=年（出版发行年、学位年度、标准发布年）

检索规则说明：

AND代表“并且”；OR代表“或者”；NOT代表“不包含”；(注意必须大写,运算符两边需空一格)

检索范例：

范例一：(K=图书馆学 OR K=情报学) AND A=范并思 AND Y=1982-2016
范例二：P=计算机应用与软件 AND (U=C++ OR U=Basic) NOT K=Visual AND Y=2011-2016

分类表

所选分类

>> <<

限定检索结果

文献类型

128 篇 会议
24 篇 期刊文献

馆藏范围

152 篇 电子文献
0 种 纸本馆藏

日期分布

学科分类号

64 篇 工学
- 33 篇 控制科学与工程
- 23 篇 机械工程
- 22 篇 仪器科学与技术
- 22 篇 计算机科学与技术...
- 20 篇 软件工程
- 6 篇 生物工程
- 4 篇 力学（可授工学、理...
- 4 篇 电气工程
- 3 篇 材料科学与工程（可...
- 3 篇 生物医学工程（可授...
- 2 篇 电子科学与技术（可...
- 2 篇 信息与通信工程
- 2 篇 航空宇航科学与技...
- 1 篇 光学工程
- 1 篇 动力工程及工程热...
- 1 篇 轻工技术与工程
25 篇 理学
- 15 篇 数学
- 10 篇 系统科学
- 6 篇 生物学
- 5 篇 物理学
- 3 篇 统计学（可授理学、...
- 1 篇 大气科学
8 篇 管理学
- 7 篇 管理科学与工程(可...
- 2 篇 图书情报与档案管...
- 1 篇 工商管理
4 篇 医学
- 4 篇 临床医学
- 2 篇 基础医学(可授医学...
- 1 篇 药学(可授医学、理...
- 1 篇 护理学（可授医学、...
1 篇 教育学
- 1 篇 教育学

主题

17 篇 robots
15 篇 robot kinematics
15 篇 mathematical mod...
14 篇 kinematics
10 篇 force
10 篇 intelligent robo...
8 篇 control systems
7 篇 process control
7 篇 artificial intel...
7 篇 dynamics
6 篇 legged locomotio...
6 篇 mobile robots
6 篇 learning
6 篇 robot sensing sy...
6 篇 trajectory
6 篇 estimation
6 篇 robustness
5 篇 quadruped robots
5 篇 real-time system...
5 篇 mechatronics

机构

5 篇 advanced robotic...
5 篇 advanced robotic...
5 篇 university of ch...
5 篇 center of excell...
4 篇 the center of ex...
3 篇 center of excell...
3 篇 center of excell...
3 篇 department of el...
3 篇 center of excell...
3 篇 center of excell...
3 篇 department of me...
3 篇 center of excell...
2 篇 center of excell...
2 篇 department of me...
2 篇 advanced robotic...
2 篇 department of el...
2 篇 robotics researc...
2 篇 center of excell...
2 篇 center of excell...
2 篇 center of excell...

作者

46 篇 s. ali a. moosav...
12 篇 hamid d. taghira...
10 篇 majid nili ahmad...
10 篇 omid mahdizadeh
7 篇 vahid akbari
7 篇 moosavian s. ali...
7 篇 h. d. taghirad
6 篇 mahdi nabipour
6 篇 m.n. ahmadabadi
5 篇 mahdi khorram
5 篇 farzaneh abdolla...
4 篇 mohammad dehghan...
3 篇 nima maghooli
3 篇 ali nasr
3 篇 sina hallajian
3 篇 ahmadabadi majid...
3 篇 sina ghanaat
3 篇 m. motaharifar
3 篇 adel akbarimajd
3 篇 dehghani mohamma...

语言

147 篇 英文
5 篇 中文

检索条件"机构=The Center of Excellence in Control and Robotics"

共 152 条记录，以下是11-20 订阅

全选清除本页清除全部题录导出标记到"检索档案"

详细简洁

排序：

Shape Estimation of Continuum Arms Based on Inverse Kinematics Data-Driven Modeling

Shape Estimation of Continuum Arms Based on Inverse Kinemati...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Saeedeh Shekari S. Ali A. Moosavian Dept of Mechanical Engineering Advanced Robotics and Automated Systems (ARAS) Lab. Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

In recent decades, soft robotic arms inspired by biological organisms with flexible structures have enabled significant advancements in robotics, particularly by allowing robots to navigate in complex and unknown environments. Tendon-driven continuum robotic arms, as a type of such systems, are characterized by their infinite degrees of freedom and the inherent complexity of their nonlinear systems, while the analysis of their configurations is highly challenging. In this study, a data-driven inverse kinematics model is developed to estimate the shape of a two-segment continuum robot called RoboArm in ARAS Lab. The robot's final configuration was recorded using two cameras, and the shape estimation was performed by tracking the position of each segment's end along a given dynamic path. The experimental results were compared with software simulations which demonstrate high accuracy in predicting the arm's configuration. By comparing the estimated shapes from the simulations with the robot's actual shape during movement, we validated the effectiveness of this approach for accurately modeling the robot's configuration in real-time.

关键词： Data-driven modeling Accuracy Shape Tracking Estimation Kinematics Soft robotics Real-time systems Software Continuum robots

来源：评论

学校读者我要写书评

暂无评论

Development and Integration of an Advanced GUI with Real-Time Data Logging for RCM-Based Robotic Surgery Devices

Development and Integration of an Advanced GUI with Real-Tim...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： M. Aghapour R. Heidari M. M. Nazeri M. J. Ahmadi H. D. Taghirad Applied Robotics and AI Solutions (ARAS) Faculty of Electrical Engineering Industrial Control Center of Excellence K.N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

In this paper, a Graphical User Interface (GUI) with advanced 3D visualization was developed specifically for minimally invasive eye surgeries. This system visualizes a realistic eye model with color-coded feedback on the trainee's maneuvers based on the magnitude of applied forces. This real-time feedback enables the trainer surgeon to monitor the trainee's actions, enhancing spatial awareness and control within the eye's confined anatomy. This GUI was validated in an operating room environment and proved to be an advantageous training tool in live surgical settings.

关键词： Training Three-dimensional displays Minimally invasive surgery Mechatronics Real-time systems Anatomy Robots Monitoring Graphical user interfaces

来源：评论

学校读者我要写书评

暂无评论

Mechanism Improvement of RoboWalk Rehabilitation Device to Adjust the Assistive Force Direction

Mechanism Improvement of RoboWalk Rehabilitation Device to A...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Shahin Naeemi Omid Mahdizadeh S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

The growing need for assistive and rehabilitative robots requires more understanding of interactions between the human and such robots. RoboWalk is one of such robotic assistive devices to help users in walking. One of the challenges in using RoboWalk is the horizontal component which undesirably appears besides the desirable assistive vertical force for weight compensation. This horizontal component can disrupt the user’s gait and cause discomfort and stability disturbances. This is due to the fact that the current design of RoboWalk does not allow for any displacement due to the singularity of the robot’s inverse kinematics. This paper proposes a few solutions to solve this problem in redesigning the motion mechanism. Analyses using Adams software show the effects of each solution on enhancing RoboWalk’s functionality. Obtained results reveal that the proposed solutions are feasible and have the potential to significantly improve the user experience.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Improved Aerodynamic Performance of Ornithopter Aerial Robot Using Spatial Mechanism Compared to Planar Design

Improved Aerodynamic Performance of Ornithopter Aerial Robot...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sina Hallajian S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

Ornithopter’s research can be categorized into two parts. First, aerodynamics analysis of the flying robot including designing the body and choosing the robot’s material based on the analysis. Second, design and analysis of the mechanism which makes the wings move. So far, most of the researches has been focused on the first subject, i. e., aerodynamics analysis; even some books were published on this topic. However, there is little research about the mechanisms while most of the previous works are based on the patterns verified before. This paper will propose the design of a new spatial mechanism. Besides, three common planar mechanisms will be modeled and simulated to analyze and compare to the proposed mechanism in terms of aerodynamics forces for one wing beat cycle. These results reveal that the proposed 3D mechanism works more promising than others.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Trajectory Tracking of Robotic Arms Using Learning Modified Transpose Jacobian

Trajectory Tracking of Robotic Arms Using Learning Modified ...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Danial Ansari S Ali A Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran Iran

In this research, the issue of trajectory tracking in task space of a robotic arm with rotational joints has been solved. For this purpose, a non-model based controller the modified jacobian-transpose is used which it’s performance has been improved by reinforcement learning. Traditionally, the settings of the error thresholds for this controller will require trial and error, but in this algorithm, reinforcement learning is used to adjust these parameters online and according to the conditions. The simulations for the desired trajectory indicate that the improvement of the trajectory tracking achieved by using proposed algorithm. Also, the superiority of this controller in noisy conditions compared to the reference Jacobian transpose controller has been shown.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Multi-aspect Optimal Sliding Mode controller for a Mecanum Wheeled Robot

Multi-aspect Optimal Sliding Mode Controller for a Mecanum W...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sohrab Allahyari Hamid Rahmanei S. Ali A. Moosavian Dept. of Mechanical Engineering Center of Excellence in Robotics & Control Advanced Robotics & Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran

Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these robots along predefined trajectories is crucial. This work presents a comparative study on the effects of parametric uncertainties, external disturbances, measurement noises, and initial deviations on the trajectory-tracking performance of a 4-wheel drive Mecanum robot. First, the kinematic and kinetic models of the Mecanum robot are introduced. Then, the integral sliding mode control is designed, and proof of stability is provided. In addition, we explore other control strategies, including PID, feedback linearization, sliding mode, and adaptive sliding mode control, that are designed for this robot. Furthermore, the particle swarm optimization algorithm is hired for the controllers with a cost function as the total sum of average error, maximum error, and final error. Optimization has been done on all controllers to compare the results fairly. To appraise the effectiveness of the proposed control optimization methods, simulations are carried out in MATLAB/Simulink. The results reveal that the proposed ISMC method performs best in both defined scenarios compared to other controllers. However, it must be noted that the ISMC controller exhibits limitations when facing significant uncertainties in the dynamic model. This study underscores the effectiveness of our proposed control method and provides valuable insights into the practical implementation controller for the Mecanum robot in real-world applications.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Dynamics Modeling of Continuum Robots Using Screw Theory for Real-time control

Dynamics Modeling of Continuum Robots Using Screw Theory for...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Saeedeh Shekari S. Ali A. Moosavian Dept of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

Modeling the dynamics of continuum robotic arms is challenging due to the highly nonlinear nature and uncertain and complicated inherent structure. This affects the application of continuum arms in various aspects, such as inverse kinematics, path generation, optimization, and control. This paper deals with the dynamics modeling of continuum robotic arms using screw theory to develop a suitable model with high accuracy, speed, and low computational load to achieve real-time control. By using the representation of the Lie group of screws in the screw theory, which simplifies the mathematics of the problem, it is possible to achieve a real-time integrated representation of the dynamics of the deformation of the body of continuum robotic arms. This provides the possibility of accurately predicting the system behavior even in the presence of external forces acting on the end-effector. The experimentally validated results for circular and infinite motion trajectories show the model effectiveness in enhancing the trajectory tracking performance and ability to estimate configuration shape changes under external loads. The integration of this model in soft robotic arms has the potential to revolutionize their application in a wide range of industries and medical applications.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Novel Bio-Intelligent Real-Time Redundancy Resolution Method for Cable-Driven Parallel Manipulators

A Novel Bio-Intelligent Real-Time Redundancy Resolution Meth...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian SeyedSina Seyedi HasanAbadi Arman Gholibeikian Department of Mechanical Engineering K. N. Toosi University of Technology Advanced Robotic and Automated Systems (ARAS) Center of Excellence in Robotics and Control Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Cable-driven parallel manipulators (CDPMs) are widely used where there is a need for high speeds and high accelerations, thanks to the low inertia and low cost of their links. However, cables can only exert tensional force. Due to this inherent property of the cables, CDPMs are required to be designed with at least one degree of redundancy in their joint space, to be able to generate an acceptable range of wrench within the workspace. Meanwhile, redundancy in joint space leads a problem called redundancy resolution, which is basically a force distribution from workspace to joint space. In this research, inspired by a simple mathematical model of the limbic system of the brain, a novel real-time redundancy resolution method is proposed. The presented method utilizes the kinematic information of the end-effector to find the solution to the redundancy resolution problem. The results show that this Brain Emotional Learning (BEL) method has a better performance in comparison with some common numerical optimization methods solved with a nonlinear programming solver like fmincon function in MATLAB, in terms of computational cost, continuity of the profile of the cables forces, and robustness.

关键词： Power cables Redundancy Force Optimization methods Kinematics Brain modeling Mathematical models Real-time systems Robustness Trajectory

来源：评论

学校读者我要写书评

暂无评论

Test-Stand Experimental Analysis of RoboWalk Weight Assisting Performance

Test-Stand Experimental Analysis of RoboWalk Weight Assistin...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Morteza Ghafoori S. Ali A. Moosavian Dept of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. K. N. Toosi University of Technology Tehran Iran

The increment in elder population has been the main cause of exoskeletons and rehabilitation robots development. Studies have proven that assistive robots are more effective in limb empowerment and rehabilitation than traditional ways. A lower-limb assistive robot called RoboWalk has been designed in ARAS lab at K. N. Toosi University of Technology to help compensate user weight when moving. This study reviews the RoboWalk weight assisting robot and illustrates its Test-Stand more thoroughly with updated modifications and parts. Test-Stand system features and operational specifications are then described. Then, system kinetics and kinematics are also explained. Finally, the weight assisting performance of RoboWalk is analyzed. Results show that the gait generating mechanism creates a singularity in Test-Stand system that causes a decrease in the assisting force. It is concluded that this issue is only related to the Test-Stand and does not appear in the actual RoboWalk robot. Nevertheless, Solutions to avoid this in Test-Stand including back and forth simulation of the gait and maximum motor torque limitation are also suggested.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design and Manufacturing of an Intelligent Ping-Pong Robot (RoboPing)

Design and Manufacturing of an Intelligent Ping-Pong Robot (...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Arian D. Farahani Ali Karimi Advanced Robotics and Automated Systems (ARAS) Lab. Dept of Mechanical Engineering Center of Excellence in Robotics and Control K. N. Toosi University of Technology Tehran Iran

robotics and artificial intelligence (AI) are rapidly transforming many industries and aspects of our lives, and sport activities are no exception. Robots and AI are already being used in a variety of sports, including training and performance analysis. This paper introduces a new assistant ping-pong robot (RoboPing) that shoots ping-pong balls with different speeds and spins, besides using AI to analyze training sessions and providing useful insights into the game. RoboPing represents a significant advancement in mechanical design over previous versions, offering enhanced functionality. Being equipped with a precise vision system makes RoboPing more advanced compared to existing versions.

关键词：

来源：评论

学校读者我要写书评

暂无评论

没有更多数据了...

全选清除本页清除全部题录导出标记到“检索档案”

共16页 << < 1 2 3 4 5 6 7 8 9 10 > >>

检索报告对象比较合并检索0

隐藏清空

合并搜索

回到顶部

执行限定条件

内容：

评分：

请选择保存的检索档案：

请选择收藏分类：

订阅名称：

通借通还

温馨提示：

图书名称：

借书校区：

取书校区：

手机号码：

邮箱地址：

一卡通帐号：

电话和邮箱必须正确填写，我们会与您联系确认。

联系人：

所在院系：

联系邮箱：

联系电话：

内蒙古自治区呼和浩特市赛罕区大学西街235号邮编: 010021

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：