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作者： Noguchi, Noboru Barawid Jr., Oscar C. Laboratory of Vehicle Robotics Graduate School of Agriculture Hokkaido University Kita 9 Nishi 9 Sapporo 065-8589 Japan Department of Engineering Aurora State College of Technology Baler Aurora 3100 Philippines

ISBN: (纸本)9783902661937

The objective of the research is to develop a robot farming system using multiple robots. The research will discuss the application of multiple robots in Japan agriculture for rice, wheat and soybean. The robot farming system includes a rice planting robot, a seeding robot, a robot tractor, a combine robot harvester and various implements attached on the robot tractor. One of the key elements of the robot farming system is that it should be more economical to the farmers. The important parts of the farming system are the robot management system, low-cost system, robot farming safety, and real-time monitoring/documentation. Keywords: multiple robots, robotics, robot farming system, robot tractors, robot management system, low-cost system. © 2011 IFAC.

关键词： Tractors (truck)

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Motion planning of uncertain fully-actuated dynamical systems - An inverse dynamics formulation

Motion planning of uncertain fully-actuated dynamical system...

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ASME 2011 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE 2011

作者： Hays, Joe Sandu, Adrian Sandu, Corina Hong, Dennis Mechanical Engineering Virginia Tech Blacksburg VA 24061 United States Computational Science Laboratory Computer Science Department Virginia Tech Blacksburg VA 24061 United States Advanced Vehicle Dynamics Laboratory Mechanical Engineering Virginia Tech Blacksburg VA 24061 United States Robotics and Mechanisms Laboratory Mechanical Engineering Virginia Tech Blacksburg VA 24061 United States

ISBN: (纸本)9780791854815

This work presents a novel nonlinear programming based motion planning framework that treats uncertain fully-actuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as: system parameters, initial conditions, sensor and actuator noise, and external forcing. Treatment of uncertainty in design is of paramount practical importance because all real-life systems are affected by it;ignoring uncertainty during design may lead to poor robustness and suboptimal performance. System uncertainties are modeled using Generalized Polynomial Chaos and are solved quantitatively using a least-square collocation method. The computational efficiency of this approach enables the inclusion of uncertainty statistics in the nonlinear programming optimization process. As such, new design questions related to uncertain dynamical systems can now be answered through the new framework. Specifically, this work presents the new framework through an inverse dynamics formulation where deterministic state trajectories are prescribed and uncertain actuator inputs are quantified. The benefits of the ability to quantify the resulting actuator uncertainty are illustrated in a time optimal motion planning case-study of a serial manipulator pick-and-place application. The resulting design determines a feasible time optimal motion plan - subject to actuator and obstacle avoidance constraints - for all possible systems within the probability space. The forward dynamics formulation (using deterministic actuator inputs and uncertain state trajectories) is presented in a companion paper. Copyright © 2011 by ASME.

关键词： Dynamics

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Robot Farming System Using Multiple Robot Tractors in Japan Agriculture

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IFAC Proceedings Volumes 2011年第1期44卷 633-637页

作者： Noboru Noguchi Oscar C. Barawid Professor Laboratory of Vehicle Robotics Graduate School of Agriculture Hokkaido University Kita 9 Nishi 9 Sapporo Japan 065-8589 Post-doctoral Fellow Laboratory of Vehicle Robotics Graduate School of Agriculture Hokkaido University Kita 9 Nishi 9 Sapporo Japan 065-8589 Affiliation: Assistant Professor Department of Engineering Aurora State College of Technology Baler Aurora Philippines 3100

Abstract The objective of the research is to develop a robot farming system using multiple robots. The research will discuss the application of multiple robots in Japan agriculture for rice, wheat and soybean. The robot farming system includes a rice planting robot, a seeding robot, a robot tractor, a combine robot harvester and various implements attached on the robot tractor. One of the key elements of the robot farming system is that it should be more economical to the farmers. The important parts of the farming system are the robot management system, low-cost system, robot farming safety, and real-time monitoring/documentation.

关键词： multiple robots robotics robot farming system robot tractors robot management system low-cost system

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Design and Control of a Coupling Mechanism-Based Prosthetic Hand

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Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 571-577页

作者：王新庆刘伊威姜力杨大鹏李楠刘宏黄海 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle Harbin Engineering University

A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.

关键词： prosthetic hand coupling mechanism electromyography control support vector machine (SVM)

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Analytical and experimental frequency response analysis of microcantilevers subject to tip-sample interaction

Analytical and experimental frequency response analysis of m...

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2009 ASME International Design engineering Technical Conferences and Computers and Information in engineering Conference, DETC2009

作者： Delnavaz, Aidin Nima Mahmoodi, S. Jalili, Nader Zohoor, Hassan Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center for Vehicle Systems and Safety Virginia Tech Blacksburg VA 24061 United States Smart Structures and NEMS Laboratory Clemson University Clemson SC 29634 United States

ISBN: (纸本)9780791849033

Improvement of microcantilever-based sensors and actuators chiefly depends on how comprehensively they are modeled and precisely formulated. Atomic Force Microscopy (AFM) is the most widespread application of microcantilever beam as a sensor, which is usually influenced by the tip-sample interaction force. For this, vibration of AFM microcantilever probe is analyzed in this paper, along with analytical, numerical and experimental investigation of the influence of the sample interaction force on the microcantilever vibration. Nonlinear integro-partial equation of microcantilever vibration subject to the tip-sample interaction is then derived and numerically simulated. Moreover, multiple time scales method is utilized to estimate the tip amplitude while it is vibrating near the sample. An experimental setup is developed using. Copyright © 2009 by ASME.

关键词： Atomic force microscopy

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UNDERACTUATED HAND DYNAMIC MODELING, ITS REAL-TIME SIMULATION, AND CONTROL

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International Journal of Humanoid robotics 2010年第4期7卷 609-634页

作者： HAI HUANG YONG-JIE PANG JIANG LI SHAO-WEI FAN XIN-QING WANG HONG LIU Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China State Key Laboratory Robot and Systems Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The forward and inverse dynamic models of the underactuated 2-DOF finger have been established in this article based on virtual spring approach. This approach not only avoids the solution of differential-algebraic equations but also leads to a completely decoupled dynamic model that is ideal for directly inverse dynamic analysis, real-time dynamic simulation and control. To verify this approach, an underactuated 3-joint finger has been brought forward. Simulation results from Matlab/Simulink are consistent with those obtained from ADAMS grasp simulations. For the hand real-time dynamic control, the velocity observer has been established based on the dynamic model, the adaptive curve fitting with the observer has obtained precise velocity signals, made up the uncertain parameters such as torsion spring, inertial, damps, etc. and achieved ideal results. By applying dynamics model and observer, the force-based impedance control can realize more accurate and stable force control during grasp.

关键词： Dynamic modeling dynamic control virtual spring approach underactuated hand

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Observer-Based Dynamic Control of an Underactuated Hand

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Advanced robotics 2010年第1期24卷 123-137页

作者： Huang Hai haihus@*** Jiang Li Pang Yong-jie Shi Shi-cai Tang Qi-rong Yang Da-peng Liu Hong Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 P. R. China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 P. R. China University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The purpose of this paper was to construct a velocity observer based on the dynamic model and realize accurate dynamic curve and force control. Curve fitting with the observer obtained precise velocity signals. Compared with PID and factored moment methods, it decreased the fitting errors a lot and achieved ideal results. Compensated with the inverse dynamic equation, the force-based impedance control with the observer could not only realize accurate force tracking, but achieve finger dynamic control by the combination of curve fitting and force tracking. Furthermore, a static grasp model was established for appropriate force distribution. The finger could grasp slippery, fragile, comparatively heavy and large objects like an egg with only base joint torque and position sensors, which illustrated that the hand could accomplish difficult tasks by using the static grasp model and dynamic control. [ABSTRACT FROM AUTHOR]

关键词： curve fitting DYNAMIC CONTROL force control UNDERACTUATED VELOCITY OBSERVER

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Integrated guidance and fault tolerant adaptive control for Mars entry vehicle

Integrated guidance and fault tolerant adaptive control for ...

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作者： Marwaha, Monika Singh, Baljeet Valasek, John Bhattacharya, Ratkim Texas A and M University College Station TX United States Vehicle Systems and Control Laboratory Aerospace Engineering Department United States Computational Intelligence and Sensing for Aerospace Robotics Laboratory United States

ISBN: (纸本)9781563479786

Reconflgurable guidance and control are major keys for reliable and safe planetary entry of space exploration vehicles. Major challenges in these missions are posed by uncertainties in atmospheric properties like density and winds. A guidance algorithm based on optimal control theory and integrated with a nonlinear Structured Adaptive Model Inversion controller is developed, implemented and evaluated in this paper. The guidance algorithm uses B-spline parametrization of states to generate dynamically feasible optimal trajectories which steer the vehicle from entry interface conditions to a Final Approach Corridor, while simultaneously satisfying terminal conditions. Guidance trajectory acts as a reference trajectory for nonlinear adaptive controller which further generates the commanded moments based on reference input. Reaction control jet selection is accomplished using discrete control allocation. Discrete control allocation method can also handle various types of control failures. Performance is evaluated with a Mars Ellipsled vehicle non real-time simulation for a complete Mars entry trajectory tracking scenario. Simulation results presented in the paper demonstrate that the guidance algorithm generates the optimal trajectory under various terminal constraints while the fault tolerant control algorithm satisfactorily track this optimal trajectory in the presence of plant and environment uncertainties, in addition to control failures. Copyright © 2009 by Monika Marwaha.

关键词： Trajectories

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DEVELOPMENT OF ELECTRONIC CONTROL UNIT FOR THE ELECTRIC ROBOT vehicle IN AN ORCHARD APPLICATION

DEVELOPMENT OF ELECTRONIC CONTROL UNIT FOR THE ELECTRIC ROBO...

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亚洲精细农业与计算机农业应用联合大会

作者： Oscar C. Barawid Jr. Noboru Noguchi Vehicle Robotics Laboratory Bio-production Engineering Division of Environmental Resources Graduate School of Agriculture Hokkaido University Sapporo 065-8589 Japan

The objective of the research was to develop a hardware called electronic control unit (ECU) which is the most important for the development of electric utility robot vehicle. The goal of developing an electronic robot vehicle is to use in an orchard application. The research used Gator Electric Utility vehicle as a platform manufactured by Deere and Company. The vehicle electric motor is powered by 48-VDC (Volt direct-current) with 8 batteries (6-Volt each battery). The ECU will be used as a vehicle controller to control different functions of the electronic robot vehicle. The controller can control steering, vehicle movement (forward, backward, and neutral), vehicle speed, and emergency stop (manual and remote control switch). In order to develop a controller for any robot vehicle, an appropriate consideration of controller specifications is necessary. The vehicle controller used PIC18F458 as its microchip device which has a program memory of 32 kbytes, data memory of 1536 bytes in SRAM (static random access memory) and 256 bytes in EEPROM (electrically erasable programmable read-only memory) with 33 pins of I/O and 8 channels of A/D in 10 bits. To control the vehicle movement (forward, backward, and neutral) and emergency stop, relays (5-Volt) were included to the vehicle ECU to command the vehilce by switching on and off the vehicle electric motor. To control the vehicle steering system and speed, a CAN (control-area-network) controller interface was included in the vehicle ECU to send and receive command data from the vehicle computer. And to obtain a feedback signal from the sensors attached to the vehilce, A/D (analog to digital) converter was included to the vehicle ECU. The vehilce controller was tested and evaluated by running the vehilce autonomously and sends commands from the vehilce computer to the controller. The vehilce ECU could control accurately the vehicle steering, movement, speed and emergency stop.

关键词： Electronic robot vehicle, ECU (Electronic control unit), CAN (Control area network), evaluation accuracy, autonomous navigation

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Band-limited guidance and control of large parafoils

Band-limited guidance and control of large parafoils

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作者： Carter, David Singh, Leena Wholey, Leonard Rasmussen, Scott Barrows, Tim George, Sean McConley, Marc Gibson, Chris Tavan, Steve Bagdonovich, Brian Draper Laboratory 555 Technology Square Cambridge MA 02459 United States US Army Natick Soldier Research Development and Engineering Center Natick MA 01760 United States Decision Systems Group MS 15 United States Aerospace Guidance and Control Group MS 70 United States Tactics Guidance and Control Group MS 77 United States Cognitive Robotics Group MS 77 United States Manned Space Systems Group MS 70 United States Vehicle and Robotics Group MS 23 United States Navigation and Localization Group MS 77 United States Tactical Systems Program Office MS 79 United States NSRDEC 15 Kansas Street United States

ISBN: (纸本)9781563479724

The Natick Soldier Research Development and engineering Center has been leading an effort to develop precision guided airdrop systems to accommodate cargo weights from 1 pound to 42,000 pounds. This paper describes flight software developed by Draper laboratory for one of the largest of these systems. Copyright © 2009 by The Charles Stark Draper laboratory, Inc.

关键词： Precision engineering

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