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Asian Control Conference

作者： Hyun-Hee Kim Min-Cheol Lee Interdisciplinary Program in Robotics Pusan National University School of Mechanical Engineering Pusan National University

ISBN: (纸本)9781479978632

In the hot rolling process, the scratches are caused by immense friction between the rollers and the steel plate, and this defect debases the productivity of steelworks. Existing hot strip mills have a structure that fixes the gap between upper and lower rollers;as a result, steel plates inevitably underwent strong friction and shock when passing through the rollers. The new concept, a flying touch method is proposed, which can control the gap between rollers for reducing scratches in hot rolling process. It is essential to simulate in finite element analysis program because the real hot rolling system is too huge and dangerous to have repetitive experiments. This paper introduces the results of the finite element analysis and a method to decrease scratches on the steel plate in hot rolling process.

关键词： Hot rolling process Flying touch Finite element analysis Ansys simulation SMCSPO Impact drop

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Embedding a concurrent autonomous agent in a microcontrollers network

Embedding a concurrent autonomous agent in a microcontroller...

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5th ISSNIP - IEEE Biosignals and Biorobotics Conference, BRC 2014

作者： Ferreira, Diego Stefano F. Da Silva, Rafael R. Loureiro Da Costa, Augusto Robotics Laboratory Postgraduate Program in Electrical Engineering Federal University of Bahia 40210-630 Salvador Bahia Brazil

ISBN: (纸本)9781479956890

In this paper, a microcontroller heterogeneous network is proposed to embed a concurrent autonomous agent. The network was designed to fit the concurrency requirements of the cognitive model of the aforementioned agent. The architecture of the agent comprises three levels, namely, the reactive level, instinctive level and the cognitive level, which runs concurrently. The reactive level is embedded in a PSoC 5LP, consisting of behaviours created over a embedded kinematic controller. The instinctive level runs in a mbed NXP LPC1768, which receives perceptions from and sends the active behaviour to the reactive level through a CAN bus. And The cognitive level runs on a DNP/2486 which, in turn, receives symbolic information from and sends new local goals to instinctive level through an Ethernet network. Finally, the architecture used in the experiments is presented, followed by the results. © 2014 IEEE.

关键词： Autonomous agents

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Estimated force based velocity synchronization for fly touch control in hot rolling process

Estimated force based velocity synchronization for fly touch...

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

作者： Sung Min Yoon Min Cheol Lee Sung Jin Kim Hyun Hee Kim Keum Gang Cha Graduate School of Mechanical Engineering Pusan National University Kumjeong-ku KR Sch. of Mech. Engeerning Pusan Nat. Unviversity South Korea Interdisciplinary Program in Robotics Pusan National University Kumjeong-ku KR

ISBN: (纸本)9781467391085

In the hot rolling process, scratches are caused by immense friction between the rollers and the steel plate, and this defect reduces the quality of steelworks. To solve this problem, a flying touch method was proposed, which can control the gap between rollers for reducing scratches in hot rolling process. In a flying touch method, it is important that the gap between the rolling rolls can be control precisely and the velocity of rolling rolls can be synchronize to minimize the friction between steel plate and rolling rolls. Therefore, this paper addresses the velocity synchronize control for fly touch method. To reduce friction between steel plate and rolling rolls, this study estimates load torque of rolling rolls using torque estimation method based on SPO and control the velocity of rolling rolls according to estimated load torque. To confirm the performance of the estimated Force based velocity synchronize control, experimental evaluation is performed using down scaled simulator designed in previous study.

关键词： Conferences Mechatronics

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A body-machine interface for training selective pelvis movements in stroke survivors: a pilot study

A body-machine interface for training selective pelvis movem...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： S. Summa C. Pierella P. Giannoni A. Sciacchitano S. Iacovelli A. Farshchiansadegh F. A. Mussa-Ivaldi M. Casadio the Department of Informatics Bioengineering Robotics and System Engineering at the University of Genoa 16145 Genoa Italy the ART Education and Rehab Center Genoa Italy the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA. the Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL 60611 USA

ISBN: (纸本)9781424492695

The body-machine interfaces (BMIs) map the subjects' movements into the low dimensional control space of external devices to reach assistive and/or rehabilitative goals. This work is a first proof of concept of this kind of BMI as tool for rehabilitation after stroke. We designed an exercise to improve the control of selective movements of the pelvis in stroke survivors, increasing the ability to decouple the motion in the sagittal and frontal planes and decreasing compensatory adjustments at the shoulder girdle. A Kinect sensor recorded the movements of the subjects. Subjects played different games by controlling the vertical and horizontal motion of a cursor on a screen with respectively the lateral tilt and the ante/retroversion of their pelvis. We monitored also the degrees of freedom not directly involved in cursor control, thus subjects could complete the task only with a correct posture. Our preliminary results highlight significant improvement not only in cursor control, but also in the Trunk Impairment Scale (TIS) and in the Five Times Sit to Stand Test (5xSST).

关键词： TIS 5xSST BMI Pelvis cursor control Movements proof of concept Stroke Pilot Studies Body Mass Index Horizontal motion BMI CONSOLE first proofs Survivors nonius

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Design improvements and dynamic characterization on fluidic elastomer actuators for a soft robotic snake

Design improvements and dynamic characterization on fluidic ...

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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Ming Luo Weijia Tao Fuchen Chen Tri K. Khuu Selim Ozel Cagdas D. Onal Robotics Engineering Program Worcester Polytechnic Institute MA USA Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA USA

This paper addresses the design and dynamic analysis of a new generation of fluidic elastomer actuators (FEAs) that offer bidirectional bending developed as motion segments of a pressure-operated soft robotic snake. Our prior work on FEAs has identified a number of limitations, namely a high center of gravity, narrow base, slow dynamics, and a small range of pressure inputs. We developed two versions of FEAs based on an improved design concept with different geometric parameters and characterized their dynamic response under a custom visual tracking system. Compared with the previous actuators, the FEAs developed in this work offer robust operation, safety at larger input pressure values, faster response, lower center of gravity and a flat bottom for better compatibility for snake-like undulatory locomotion.

关键词： Actuators Robot kinematics Rubber Pneumatic systems Fabrication Valves

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A shared control architecture for human-in-the-loop robotics applications

A shared control architecture for human-in-the-loop robotics...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Velin Dimitrov Taşkın Padır Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

We propose a shared control architecture to enable the modeling of human-in-the-loop cyber physical systems (HiLCPS) in robotics applications. We identify challenges that currently hinder ideas and concepts from cross-domain applications to be shared among different implementation of HiLCPS. The presented architecture is developed with the intent to help bridge the gap between different communities developing HiLCPS by providing a common framework, associated metrics, and associated language to describe individual elements. We provide examples from two different domains, disaster robotics and assistive robotics, to demonstrate the structure of the architecture.

关键词： Robots Engines Computer architecture Logic gates Measurement Knowledge based systems Context

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Efficient 3D terrain mapping based on normal distribution transform grid

Efficient 3D terrain mapping based on normal distribution tr...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyun Jun Na Yungeun Choe Myung Jin Chung Department of Electrical Engineering KAIST Daejeon Korea Robotics Program KAIST Daejeon Korea

Researches about semantic terrain mapping using data acquired from range sensors have been widely studied. And this semantic map can be used for navigation, exploration and path planning. Among the various information `traversability' is important before everything. Because only if traversability information is provided in advance, various high-level robot's tasks are possible. The proposed efficient 3d terrain mapping method use NDT grid. And by using NDT grid's covariance matrix, we define traversability using three different factors `slope', `flatness', `reliability'. Experimental results show by our proposed method traversability can be analyzed efficiently, and accurately.

关键词： Reliability Robots

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A novel steering sections of hybrid rotary steerable system for directional drilling

A novel steering sections of hybrid rotary steerable system ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jongheon Kim Byeolteo Park Jae-Uk Shin Sungwook Jung Hyun Myung Dept. of Civil and Environmental Engineering KAIST Daejeon Korea Robotics Program KAIST Daejeon Korea

ISBN: (纸本)9781479960514

As the conventional resource drains, the importance of unconventional resource grows. A directional drilling system and a hydraulic fracturing method are required to gain unconventional resources. Nowadays, the key technology of the directional drilling is a rotary steerable system (RSS). Among several types of the RSS developed so far, `point-the-bit' and `push-the-bit' are the most commonly used ones. In this paper, we introduce several conventional directional drilling methods and propose a new hybrid-type rotary steerable system. This mechanism improves the steering angle by taking advantages of both `point-the-bit' and `push-the-bit' types. Its control should be synchronized all 360° for BHA(Bottom Hall Assembly) heading due to the hybrid mechanism.

关键词： Lead Torque Actuators Force Service robots

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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