2017 IEEE International Conference on Mechatronics and Automation (ICMA)最新文献

An optimal nonlinear guidance logic for the trajectory tracking of supercavitating vehicles 超空泡飞行器轨迹跟踪的最优非线性制导逻辑

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-24 DOI: 10.1109/ICMA.2017.8015991

Jia Song, Ke Gao, Erfu Yang

引用次数: 0

Singing performance of the talking robot with newly redesigned artificial vocal cords 用新设计的人工声带演唱的会说话的机器人

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-23 DOI: 10.1109/ICMA.2017.8015895

Thanh Vo Nhu, H. Sawada

{"title":"Singing performance of the talking robot with newly redesigned artificial vocal cords","authors":"Thanh Vo Nhu, H. Sawada","doi":"10.1109/ICMA.2017.8015895","DOIUrl":"https://doi.org/10.1109/ICMA.2017.8015895","url":null,"abstract":"The authors are developing a talking robot which is a mechanical vocalization system modeling the human articulatory system. The talking robot is constructed with mechanical parts that are made by referring to human vocal organs biologically and functionally. In this study, a newly redesigned artificial vocal cords is developed for the purpose of extending the speaking capability of the talking robot. The artificial vocal cords is developed using functional approach. A thin layer of rubber band with a width of 7mm is attached on a plastic body in a sealed chamber creates an artificial sound source. The fundamental frequency of the sound source vary from 80Hz to 250 Hz depending on the pressure to the rubber band and the curving shape of the rubber band. The curving shape of the rubber band is adjustable by an innovative design mechanism driven by a servo motor. The amount of air pressure applied to the rubber band is controlled by another servo motor. The experiments to verify the speak capability of the talking robot with this newly redesigned vocal cords is conducted by letting the robot generating five vowel sounds with different combinations of 20 levels of rubber band shape and 5 levels of air pressure input. The pitch of each sound is extracted to determine the effect of the rubber band shape and the pressure input on the output sound. The result shows that this newly redesigned vocal cords greatly increase the speaking capability of the talking robot, especially its singing performance.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121017741","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

A novel path planning algorithm in robotic fibre placement for complex closed surface structures 复杂封闭表面结构机器人纤维放置路径规划新算法

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-23 DOI: 10.1109/ICMA.2017.8015902

Min Jiang, Baolin Wu, Liping Ma

引用次数: 0

Crawling motion and foot trajectory modification control for legged robot on rough terrain 崎岖地形下腿式机器人爬行运动及足部轨迹修正控制

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-23 DOI: 10.1109/ICMA.2017.8016121

T. Matsuzawa, Ayanori Koizumi, K. Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Nobuaki Sakai, S. Kimura, A. Takanishi

{"title":"Crawling motion and foot trajectory modification control for legged robot on rough terrain","authors":"T. Matsuzawa, Ayanori Koizumi, K. Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Nobuaki Sakai, S. Kimura, A. Takanishi","doi":"10.1109/ICMA.2017.8016121","DOIUrl":"https://doi.org/10.1109/ICMA.2017.8016121","url":null,"abstract":"In this paper, we propose a crawling motion to reduce the risk of malfunction due to falling when a legged robot travels across rough terrain. This locomotion method includes a phase in which the torso of the robot comes into contact with the ground to lower its center of mass compared with that during conventional bipedal or quadrupedal walking motion. In rough terrain, the ability of a robot to crawl is very likely to be hindered since its feet may encounter holes or protrusions caused by road surface damage. To avoid this issue, we suggest a modified foot trajectory control method based on information obtained by force and attitude angle sensors. To verify the effectiveness of the proposed crawling motion on rough terrain, we created a terrain model using a dynamics simulator and conducted an experiment by applying the proposed control method to a four-limbed robot traveling across the modelled terrain. The experimental results confirmed that a robot can successfully traverse rough terrain using the proposed crawling motion and that the foot trajectory modification control method can enhance the performance of the robot during such motion.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122458876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors 设计了一种小型移动机器人，该机器人具有车轮和多转子混合运动机构

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-23 DOI: 10.1109/ICMA.2017.8016039

Katsuaki Tanaka, Di Zhang, Sho Inoue, R. Kasai, Hiroya Yokoyama, Koki Shindo, Ko Matsuhiro, Shigeaki Marumoto, H. Ishii, A. Takanishi

{"title":"A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors","authors":"Katsuaki Tanaka, Di Zhang, Sho Inoue, R. Kasai, Hiroya Yokoyama, Koki Shindo, Ko Matsuhiro, Shigeaki Marumoto, H. Ishii, A. Takanishi","doi":"10.1109/ICMA.2017.8016039","DOIUrl":"https://doi.org/10.1109/ICMA.2017.8016039","url":null,"abstract":"We developed a small mobile robot in response to the demands in the disaster area. A hybrid locomotion mechanism of wheels and multi-rotors are proposed to realize both high locomotion performance and long-term operation. The wheels allow to highly maneuverable move in a narrow space, and the multi-rotors allow to move to a higher position. The objective of this study is to design the locomotion mechanism and develop a platform for confirming the basic locomotion performance. We attached a wheel mechanism into the assembled hobby drone and embedded an electrical system to operate the robot. The wheels also contribute to protect the multi-rotors from obstacles such as rubble. A stabilizer was proposed to stabilize the robot during running with wheels and designed to allow recover from flipping state. The significant of this work is not only improving the locomotion performance of the drone, but also increase the operating time, this leads various uses at disaster sites. In this paper, the details of the locomotion mechanism and some experimental results using the developed platform are shown.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114936732","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 13

Flexible lengthening-shortening arm mechanism for an underwater vehicle 一种水下航行器柔性增短臂机构

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-23 DOI: 10.1109/ICMA.2017.8015921

Yoshiki Iwamochi, T. Miyoshi, M. Takagi

引用次数: 2

Adaptive control of magnetostrictive actuators based on modified Preisach model 基于改进Preisach模型的磁致伸缩作动器自适应控制

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-23 DOI: 10.1109/ICMA.2017.8015976

Tomoyuki Aoyagi, A. Yonenaga, Xinkai Chen

引用次数: 0

Development of thin-type rocking device mounted on office chair for supporting falling asleep 用于办公椅支撑入睡的薄型摇椅装置的研制

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-23 DOI: 10.1109/ICMA.2017.8016046

J. Maeda, Hirotoshi Shinohara, S. Wesugi

引用次数: 0

Reliability of stride length estimation in self-pace and brisk walking with an inertial measurement unit on shank 用足部惯性测量装置估算自步快走步幅的可靠性

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-23 DOI: 10.1109/ICMA.2017.8015896

R. Kasai, T. Kodama, Z. Gu, D. Zhang, W. Kong, S. Cosentino, S. Sessa, Y. Kawakami, A. Takanishi

{"title":"Reliability of stride length estimation in self-pace and brisk walking with an inertial measurement unit on shank","authors":"R. Kasai, T. Kodama, Z. Gu, D. Zhang, W. Kong, S. Cosentino, S. Sessa, Y. Kawakami, A. Takanishi","doi":"10.1109/ICMA.2017.8015896","DOIUrl":"https://doi.org/10.1109/ICMA.2017.8015896","url":null,"abstract":"The use of Inertial Measurement Unit (IMU) for gait analysis is gaining popularity because of its advantages of low cost and non-limited workspace. In this context, researchers are focusing on methods for automated data analysis. For example, many algorithms for stride length estimation have been developed. These algorithms rely on event detection to compute gait parameters during walking and on orientation estimation for a more precise double integration of acceleration. However, at the present, there is not comparison between existing algorithms, and the applicability of each algorithm for different walking patterns is not clear. In this paper, we studied the effect on the stride length estimation using three different techniques of event detection and two techniques of orientation estimation, by using an IMU on the lateral side of shank above the ankle. In total 6 patterns of stride estimation algorithms were compared on different walking patterns of normal and brisk walking. We evaluated the techniques in terms of precision, accuracy, and shape of the histogram of the stride estimation error.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130801890","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of a tool that increases / reverses the user's binocular parallax with optical elements to change the feeling of depth of a physical object 开发一种工具，通过光学元件增加/逆转用户的双眼视差，以改变物理物体的深度感觉

2017 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2017-08-23 DOI: 10.1109/ICMA.2017.8015843

Tomotaka Horiuchi, Yutaro Yamada, S. Wesugi

{"title":"Development of a tool that increases / reverses the user's binocular parallax with optical elements to change the feeling of depth of a physical object","authors":"Tomotaka Horiuchi, Yutaro Yamada, S. Wesugi","doi":"10.1109/ICMA.2017.8015843","DOIUrl":"https://doi.org/10.1109/ICMA.2017.8015843","url":null,"abstract":"In daily situation such as driving a car or playing a ball sport, the feeling of depth is important to understand the distance between an object and a performer. There decline in a feeling of depth due to aging influences on performance. Furthermore, because many people may be unaware of a decline in their feeling of depth, it is typically thought that it's difficult to monitor the degree of change in a person's feeling of depth correctly and to prepare the person for the decline. Authors thus intend to propose a unique experience of simulating a change in the feeling of depth relating to aging. The present paper explains a method and a tool for changing the feeling of depth of a physical object in real environment. We focused on the influence on a feeling of depth by changing only binocular parallax, and constructed a tool that increases / reverses the user's binocular parallax. In consideration of tiredness resulting from a long time use, we designed the tool to conform optical information received when using the tool to that received when observing physical objects directly. Through the movement of objective mirrors and ocular prisms, the tool changes the user's binocular parallax arbitrarily. It was reported from experiences that the feeling of depth changed by using this tool.","PeriodicalId":124642,"journal":{"name":"2017 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122610623","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0