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

45 篇 会议
3 篇 期刊文献

馆藏范围

48 篇 电子文献
0 种 纸本馆藏

日期分布

学科分类号

20 篇 工学
- 12 篇 机械工程
- 12 篇 仪器科学与技术
- 6 篇 控制科学与工程
- 6 篇 计算机科学与技术...
- 6 篇 软件工程
- 2 篇 生物工程
- 1 篇 光学工程
- 1 篇 电气工程
- 1 篇 电子科学与技术（可...
- 1 篇 生物医学工程（可授...
6 篇 理学
- 3 篇 数学
- 2 篇 生物学
- 2 篇 系统科学
- 2 篇 统计学（可授理学、...
- 1 篇 物理学
3 篇 医学
- 3 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、...
3 篇 管理学
- 2 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

主题

8 篇 kinematics
7 篇 mathematical mod...
5 篇 quadruped robots
5 篇 robots
5 篇 dynamics
4 篇 legged locomotio...
4 篇 intelligent robo...
4 篇 estimation
4 篇 artificial intel...
4 篇 robot kinematics
3 篇 exoskeletons
3 篇 force
3 篇 knee
3 篇 learning
3 篇 robot sensing sy...
3 篇 actuators
3 篇 software
2 篇 vehicle dynamics
2 篇 robot
2 篇 friction

机构

3 篇 center of excell...
3 篇 center of excell...
3 篇 center of excell...
3 篇 department of me...
2 篇 center of excell...
2 篇 center of excell...
2 篇 center of excell...
2 篇 center of excell...
2 篇 university of ch...
1 篇 university hospi...
1 篇 school of cognit...
1 篇 department of ps...
1 篇 neural basis of ...
1 篇 ottawa hospital ...
1 篇 vu university me...
1 篇 school of mathem...
1 篇 faculty of medic...
1 篇 informatics univ...
1 篇 farhat hached un...
1 篇 klinikum kassel ...

作者

27 篇 s. ali a. moosav...
7 篇 omid mahdizadeh
6 篇 vahid akbari
5 篇 mahdi nabipour
5 篇 mahdi khorram
3 篇 m.n. ahmadabadi
3 篇 majid nili ahmad...
3 篇 ali nasr
3 篇 sina hallajian
3 篇 ahmadabadi majid...
3 篇 sina ghanaat
2 篇 farshid absalan
2 篇 sara ashrafi
2 篇 a.h. elahibakhsh
2 篇 mohammad jamali
2 篇 araabi babak nad...
2 篇 farhad asadi
2 篇 shahin naeemi
2 篇 saeedeh shekari
2 篇 lucas caro

语言

45 篇 英文
3 篇 中文

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

共 48 条记录，以下是21-30 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：

RoboWalk Multiple-Sensor and Multipolar Data Fusion

RoboWalk Multiple-Sensor and Multipolar Data Fusion

引用

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

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

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

RoboWalk is a two-legged rehabilitation assisting robot, which helps users by carrying a portion of the weight. In this paper, we propose an algorithm to correct the attitude and position error by means of an Adaptive Root Square Unscented Kalman Filter. To this end, the IMU and encoders are used to determine the robot kinematic configuration, but since there is no solid connection between the ground and the feet, the sensor's data may not lead to exact positioning configuration. Therefore, a new approach for estimating the position of the feet and the seat is presented. The method is based on using the standing foot IMU, and related encoders to obtain the seat position. Then, the obtained result is compared to the seat IMU and correcting the position. Next, the corrected position and the swing leg encoders are used to obtain the swing foot position, which is compared to the corresponding IMU, to modify and yield all corrected positions. Describing the proposed method, it is then implemented, and the results will be discussed.

关键词： Mathematical model Robot sensing systems Estimation Robot kinematics Foot

来源：评论

学校读者我要写书评

暂无评论

State prediction approach for master-slave agents in presence of communication delay

State prediction approach for master-slave agents in presenc...

引用

2013 1st RSI/ISM International Conference on robotics and Mechatronics, ICRoM 2013

作者： Ghahremani, Sona Nili Ahmadabadi, Majid Mirian, Maryam S. Araabi, Babak N. Cognitive Robotics Lab. Dept. of Elect. and Comp. Eng. University of Tehran Iran Control and Intelligent Processing Center of Excellence Dept. of Elect. and Comp. Eng. University of Tehran Iran Robotics and Machine Intelligence Dept. of Elect. and Comp. Eng. University of Tehran Iran

ISBN: (纸本)9781467358118

Teleoperation is a mechanism that makes it possible to accomplish a task in an environment where the presence of the master at the slave site is either undesirable or hardly possible The communication delay is a challenge with undesirable effects, jeopardizing the teleoperated systems the most. When the salve agent is performing in a dynamically changing environment, communication delay can be very harmful since the environment is changing continuously even though the agent has stopped operating because of the delay. Many studies have been conducted to overcome time delay effects. © 2013 IEEE.

关键词： Remote control

来源：评论

学校读者我要写书评

暂无评论

Test-Stand Development and Performance Analysis of RoboWalk Assistive Device

Test-Stand Development and Performance Analysis of RoboWalk ...

引用

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

作者： S. Ali A. Moosavian Omid Mahdizadeh Vahid Akbari Mahdi Nabipour Sina Ghanaat Shahin Naeemi Sina Hallajian Arash T. Beydokhti 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

ISBN: (纸本)9781665454537

Robotic devices are increasingly studied for the rehabilitation purposes of the lower limb disabilities. Wearable assistive devices such as exoskeletons have been recognized as a practical solution to increase the power and maneuverability of human beings in industries, as well as rehabilitation, elderly care, and sports exercises. RoboWalk is a lower limb assistive device that has been designed in ARAS lab at KNTU. To guarantee its proper performance, a Test-Stand is designed and manufactured with extended toolkit options. To validate the simulation results of various scenarios, is the main goal of developing this Test-Stand. Also, to examine the electronics boards and subsystems, the correct interaction between the sensors and the actuators, and investigate the performance of the main control loop, and so on, the Test-Stand is highly useful. In this paper, these various aspects of design and manufacturing of RoboWalk test stand are presented. Stress analyses in SOLIDWORKS software showed that the design of the proposed device is capable to handle the required tasks. Finally, a positioning task is implemented, which reveals the merits of the designed Test_Stand.

关键词： Performance evaluation Simulation Exoskeletons Software Sensors Manufacturing Assistive devices

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

CPG-Based Gait Planning Of a quadruped robot for Crossing Obstacles

CPG-Based Gait Planning Of a quadruped robot for Crossing Ob...

引用

RSI/ISM International Conference on robotics and Mechatronics

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

ISBN: (纸本)9781467372350

ability of quadruped robots for adjusting posture for crossing natural obstacles is an important issue. These robots should change their footholds to avoid any obstacles. In this paper, a gait planning algorithm based on Cartesian CPG-based controller for a quadruped robot in order to cross different planar obstacles will be developed. In proposed approach, the rhythmic patterns in central pattern generator are modulated by feedback signals which encode foothold positions in respect to the planar obstacles. By using these feedback signals the frequency of oscillation will be adjusted so that desired gait avoids the obstacles. The obtained gait results in the swing and stance sequences and also step length for each foot. Then, the trajectory of the swing legs in Cartesian space will be computed based on the CPG output data. So, the desired ZMP (Zero moment Point) trajectory will be obtained by using the footholds. Then, COG trajectory will be obtained by using a preview controller on the basis of the desired ZMP trajectory. Finally, proposed algorithm will be tested for crossing planar obstacles in different size and distance. Obtained results show the effectiveness of the proposed approach in crossing obstacles with different size and distance to each other.

关键词： central pattern generation gait planning Quadruped robots obstacle-crossing phase resetting

来源：评论

学校读者我要写书评

暂无评论

CPG-Based Gait Transition of a Quadruped Robot

CPG-Based Gait Transition of a Quadruped Robot

引用

RSI/ISM International Conference on robotics and Mechatronics

ISBN: (纸本)9781467372350

Quadruped animals have high agility and grace skills in the motion over natural environment. An important feature of such animals is their abilities in the selection of appropriate gait in the response to the terrain irregularities and also the smooth transition between them in order to increase the stability or conserve the energy. In this paper, a Cartesian CPG-based controller for the gait generation and the transition between them will be developed. The proposed approach uses nonlinear coupled oscillators for generating rhythmic signals. These patterns can be modulated by a programmed excitation signal and proportionally changing the frequency, amplitude and the coupling parameters among oscillators. According to these variations, the step length, duration of swing and stance phases of all legs, relative phase between the legs and the sequence of leg lifting can be adjusted smoothly especially by the duration of gait transition. Then, trajectories of swing legs along the z- and x-axeis will be computed through the data obtained form the CPG controller. The reference ZMP path will be desgined on the basis of the footprints of legs. Then, the COG trajectories will be calculated with a preview servo controller. Finally, some simulations are conducted to verify the effectiveness of the proposed approach both in the gait generation and smooth gait transition for a quadruped robot.

关键词： central pattern generator Gait transition Walking and Trotting gait quadruped robots Pattern gait generation

来源：评论

学校读者我要写书评

暂无评论

Dynamics of a 9-DoF Robotic Leg for a Football Simulator

Dynamics of a 9-DoF Robotic Leg for a Football Simulator

引用

RSI/ISM International Conference on robotics and Mechatronics

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

ISBN: (纸本)9781467372350

This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links can be obtained. Dynamics equations of this robot have been written using recursive Lagrange method and inverse dynamics problem has been solved. Finally, kinematics and dynamics equations of this robot are verified using a numerical simulation in MATlab simmechanics.

关键词： robotic leg simmechanics verification kinematics dynamics

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

Time Optimized Digital Image Processing of Ball and Plate System Using Artificial Neural Network

Time Optimized Digital Image Processing of Ball and Plate Sy...

引用

RSI/ISM International Conference on robotics and Mechatronics

作者： Yasaman Parandian Hannaneh Z. Arabshahi Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Regarding robot interaction with moving objects and the necessity for robot controller to react in a timely manner having the objects current position, finding an efficient positioning method has always been a challenge. As ball and plate system is considered to be a standard experimental system in control laboratories. The system is consisted of the following pieces: a horizontal plate which gets tilted along each horizontal axes. The ball, which is located on the plate;is controlled by the system in a way to be placed in any point on the plate. In fact, the ball and plate system is an extension of the classical ball on beam experiment that is often used to study various types of control and stability problems.

关键词： Forward Kinematics Neural Networks Real-Time Computer Vision 3RRS Parallel Robot Ball and Plate

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5页 << < 1 2 3 4 5 > >>

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：