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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints Mechatronics

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Attitude tracking control of a quadrotor based on linear active disturbance rejective control

Attitude tracking control of a quadrotor based on linear act...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Jingdu Gao Yan Zhuang Jizhong Xiao Yiwen Zhao School of Control Science and Engineering Dalian University of Technology Dalian China Department of Electrical Engineering The City College City University of New York New York USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

A quadrotor is a typical multiple-input multiple-output (MIMO), underactuated, strong coupled nonlinear system with parameter uncertainty and unmodeled disturbance. To track the desired attitude and height, a linear active disturbance rejection control (LADRC) approach is utilized for the quadrotor control. LADRC has the capacity of estimating and compensating the generalized disturbance, and reduce the system to a unit gain double integrator, which is easily implemented and robust to environment disturbances. A simplified dynamic model of quadrotor is established using Newton-Euler equations. The design of LADRC is verified through numerical simulation and compared with PID controller. Simulation results indicate the LADRC can be used to achieve good performance in tracking the desired attitude and height.

关键词： Mathematical model control systems Observers Attitude control Aerodynamics Numerical models Propellers

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Recurrence characteristics analysis of near-Surface wind speed signal with different sampling frequencies

Recurrence characteristics analysis of near-Surface wind spe...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Wu, Zhan Xie Meng, Qing Hao Li, Jing Hai Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

The wind is the main factor to influence the propagation of gas in the atmosphere. Therefore, the wind signal obtained by anemometer will provide us valuable clues for searching gas leakage sources. In this paper, the Recurrence Plot (RP) and Recurrence Quantification Analysis (RQA) are applied to analyze the influence of recurrence characteristics of the wind speed time series under the condition of the same place, the same time period and with the sampling frequency of 1hz, 2hz, 4.2hz, 5hz, 8.3hz, 12.5hz and 16.7hz respectively. Research results show that when the sampling frequency is higher than 5hz, the trends of recurrence nature of different groups are basically unchanged. However, when the sampling frequency is set below 5hz, the original trend of recurrence nature is destroyed, because the recurrence characteristic curves obtained using different sampling frequencies appear cross or overlapping phenomena. The above results indicate that the anemometer will not be able to fully capture the detailed information in wind field when its sampling frequency is lower than 5hz. The recurrence characteristics analysis of the wind speed signals provides an important basis for the optimal selection of anemometer. © (2014) Trans Tech Publications, Switzerland.

关键词： Time series

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Motion comparison method combining segmented multi-Joint line graphs with the SIFT matching technique

Motion comparison method combining segmented multi-Joint lin...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Ren, Hong Lin Meng, Qing Hao Chen, Chang Wei Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

In this paper, an effective motion comparison method based on segmented multi-joint line graphs combined with the SIFT feature matching method is proposed. Firstly, the multi-joint 3D motion data are captured using the Kinect. Secondly, 3D motion data are normalized and distortion data are removed. Therefore, a 2D line graph can be obtained. Next, SIFT features of the 2D motion line graph are extracted. Finally, the line graphs are divided into several regions and then the comparison results can be calculated based on SIFT matching ratios between the tutor's local line graph and the trainee's local line graph. The experimental results show that the proposed method not only can easily deal with the several challenge problems in motion analysis, e.g., the problem of different rhythm of motions, the problem of a large amount of data, but also can provide detailed error correction cues. © (2014) Trans Tech Publications, Switzerland.

关键词： Motion analysis

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Biomechanical analysis of typical upper limb movements based on Kinect-LifeMOD

Biomechanical analysis of typical upper limb movements based...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Chen, Chang Wei Meng, Qing Hao Ren, Hong Lin Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

In traditional biomechanical analysis of upper limb, the high-precision motion data and lifelike human models are needed. It is obvious that those processes are costly and time-consuming. In this paper, a novel and simple combination method based on Kinect-LifeMOD is proposed. Firstly, the Microsoft Kinect (a latest depth sensor) is used to build a cheap and precise motion capture platform. Real-time and reliable key-node rotation data of human skeletons can be acquired by this motion capture system. Next, rotation data is converted into position data as the input of the LifeMOD software which can establish mathematical model of upper limb and execute biomechanical analysis automatically. The experimental results show that the proposed method could achieve the satisfactory performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Biomechanics

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Implementing 3-D high maneuvers with a novel biomimetic robotic fish 19

Implementing 3-D high maneuvers with a novel biomimetic robo...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Wu, Zhengxing Yu, Junzhi Su, Zongshuai Tan, Min State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9783902823625

This paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, two degrees of freedom pectoral mechanism and multilink body joints together with a caudal fin is developed. With full consideration of both mechanical configuration and propulsive principles of the robotic fish, detailed analysis and viable approaches to perform serval high maneuvers involving rotational maneuvers and translational maneuvers are presented. Based on the feedback of turning angles measured by an onboard six-axis gyroscope, the robotic fish achieves various agile and swift motions. Specifically, according to the C-start of Esox lucius, a flexible and wide-range yaw turn up to 360° is attained. Under the propulsive forces and moments from pectoral fins with symmetric or asymmetric pitching and heaving attack angles, the robotic fish can agilely flip in a pitch style and roll a 360° rotation around the swimming direction. Moreover, two types of backward swimming separately employing pectoral fins and body undulation are also accomplished. The experimental results verify the remarkable maneuverability of the developed robotic fish and the effectiveness of approaches presented for the maneuver control. © IFAC.

关键词： robotics

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A production planning model for a steel plate fabrication plant with flexible customization and manufacturing 19

A production planning model for a steel plate fabrication pl...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Lu, Shan Su, Hongye Johnsson, Charlotta Xie, Lei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control ZheJiang University Hangzhou310027 China Department of Automatic Control Lund University Sweden

ISBN: (纸本)9783902823625

With increased market competition and advances in modern manufacturing technologies, requirements on customer orders and manufacturing conditions have become more diversified. This paper addresses a dynamic production planning problem for a steel plate fabrication plant with practical flexibility of both customers and manufacturing, such as steel slab-plate matching rules, plate substitution options, production line assignment. These flexibility factors can provide the decision maker with auxiliary options to satisfy customer requirements through realizable production planning. The steel slab-plate matching rules combined with plate substitution options are visualized by a networked graph and formulated by a set based design. A mixed-integer nonlinear programming (MINLP) model that incorporates various manufacturing constraints and the flexibility is proposed to simultaneously optimize production strategy and provide practical managerial information such as backlogging/inventory level, capacity availability, and also steel slab demand. Linearization methods are used to transform the original MINLP problem into mixed integer linear programming (MILP) model resulting in easier and quicker solutions. A real industrial steel plate fabrication plant is used as a case and illustrates the effectiveness and applicability of the proposed method. © IFAC.

关键词： Flexible manufacturing systems

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The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment

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robotics and Biomimetics 2014年第1期1卷 1-20页

作者： Chen, Yixiong Hu, Jin Peng, Long Hou, Zeng-guang State Key Laboratory of Management and Control for Complex Systems Beijing China

To design a control strategy for iLeg, an exoskeleton robot developed for lower limb rehabilitation aiming at investigating the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, an FES-assisted training strategy combined with impedance control, has been proposed in this paper. Through impedance control, an active compliance of the robot is established, and the patient’s voluntary effort to accomplish the training task is inspired. During the training process, the patient’s related muscles are applied with FES which provides an extra assistance to the patient. The intensity of the FES is properly chosen in order to induce a desired active torque which is proportional to the voluntary effort extracted from the electromyography signals of the related muscles using back propagation neural networks. This kind of enhancement serves as a positive feedback which reminds the patient of the correct attempt to fulfill the desired motion. FES control is conducted by a combination of neural network-based feedforward controller and a PD feedback controller. Simulation conducted using Matlab and the experiment with a spinal cord injury subject and a healthy subject have shown satisfactory results which verify the feasibility of this control strategy.

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Synchronization of heterogeneous dynamical networks via distributed impulsive control

Synchronization of heterogeneous dynamical networks via dist...

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作者： He, Wangli Han, Qing-Long Qian, Feng Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Shanghai200237 China Centre for Intelligent and Networked Systems Central Queensland University RockhamptonQLD4702 Australia

ISBN: (纸本)9781479940325

This paper studies global synchronization between a heterogeneous dynamical network and a known target trajectory via distributed impulsive control. Synchronization with an error level, called quasi-synchronization, is analyzed by utilizing the time-varying Lyapunov function. Some sufficient quasi-synchronization conditions are presented and explicit expressions of error levels are derived. Furthermore, the effects of the pinning control matrix and the coupling strength are explored. Unlike the continuous pinning feedback control, it is shown that a large coupling strength will destroy synchronization in the present of impulsive controller, which is also verified by our simulations. © 2014 IEEE.

关键词： Synchronization

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control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic Engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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