2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)最新文献_第10页

State-dependent sliding mode observer for an electro-pneumatic clutch 电动气动离合器状态依赖滑模观测器

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576746

R. Prabel, H. Aschemann

引用次数: 2

Biologically inspired vision based control using featureless time-to-contact estimations 基于生物启发的视觉控制，使用无特征的接触时间估计

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576922

Haijie Zhang, Jianguo Zhao

{"title":"Biologically inspired vision based control using featureless time-to-contact estimations","authors":"Haijie Zhang, Jianguo Zhao","doi":"10.1109/AIM.2016.7576922","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576922","url":null,"abstract":"Time-to-contact, a biologically inspired concept, is defined as the time for a moving observer to contact an object or surface if the current velocity is maintained. Since it can be directly estimated from image sequences using a vision sensor, time-to-contact is widely applied for various robotic applications such as docking, chasing, landing, and navigation. Nevertheless, existing estimation methods, such as the size based method and optical flow divergence method, require the time-consuming feature extraction and tracking. In this paper, we adopt a featureless method that can directly estimate time-to-contact using only the image intensity information. Moreover, we propose an error based proportional control algorithm based on the estimated time-to-contact. Such a controller is implemented on a mobile robot platform to achieve real-time docking. We have also proposed a new time-to-contact estimation algorithm considering the robot's angular velocities and verified the result using image sequences. The estimation and control method presented in this paper has the potential to be applied to miniature robots to accomplish agile locomotion with limited computation power or limited sensing modalities.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125061984","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: 4

An accurate force regulation mechanism for handling fragile objects using pneumatic grippers 一个精确的力调节机制，处理易碎的物体使用气动夹具

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576798

Chih-Chieh Chen, Chao-Chieh Lan

引用次数: 1

Development of biocompatible magnetic microrobot transporter using 3D laser lithography 利用三维激光光刻技术研制生物相容性磁性微型机器人传输体

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576856

Junyang Li, Weicheng Ma, Fuzhou Niu, Y. Chow, Shuxun Chen, Bo Ouyang, H. Ji, Jie Yang, Dong Sun

{"title":"Development of biocompatible magnetic microrobot transporter using 3D laser lithography","authors":"Junyang Li, Weicheng Ma, Fuzhou Niu, Y. Chow, Shuxun Chen, Bo Ouyang, H. Ji, Jie Yang, Dong Sun","doi":"10.1109/AIM.2016.7576856","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576856","url":null,"abstract":"This paper presents the design and fabrication of a magnetic microrobot transcporter with porous spherical structure produced by 3D laser lithography. The microrobots are coated with nickel (Ni) and titanium (Ti) for magnetic actuation and biocompatibility, respectively. A series of characterization experiments is conducted to show that Ni coating enables the microrobot to possess ideal ferromagnetic properties. Cell viability experiments are also performed to demonstrate that the Ti-coated microrobot exhibit excellent biocompatibility. A micro probe operation platform is further designed to detach the fabricated microrobots from the glass surface. The developed microrobot can be controlled to track complex trajectories automatically, driven by a home-made electromagnetic manipulation system. Experimental results show that the developed magnetic microrobots can be precisely controlled in all directions by changing the induced current loaded to each electromagnetic coil. Such porous spherical microrobot can be used to transport target cells to the desired regions with better tissue fusion and vascularization.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127089413","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: 3

The university of Malta minimal anthropomorphic robot (UM-MAR) Hand II 马耳他大学最小拟人化机器人(UM-MAR) Hand II

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576795

Donald Dalli, M. Saliba

引用次数: 3

Sampling-based path planning with goal oriented sampling 目标导向采样的基于采样的路径规划

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576947

Gitae Kang, Y. Kim, W. You, Young Hun Lee, H. Oh, H. Moon, Hyoukryeol Choi

引用次数: 10

Programmable robotic chains: Kinematics and dynamics of a scalable tendon-driven under-actuated multibody system 可编程机器人链:可伸缩肌腱驱动欠驱动多体系统的运动学和动力学

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576993

Matteo Lasagni, K. Römer

{"title":"Programmable robotic chains: Kinematics and dynamics of a scalable tendon-driven under-actuated multibody system","authors":"Matteo Lasagni, K. Römer","doi":"10.1109/AIM.2016.7576993","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576993","url":null,"abstract":"In previous work, we presented a programmable shape shifting-surface composed of modular robotic chains. As the control of a robotic chain presents many challenges, in this paper, kinematics and dynamics of such a robotic chain are modelled to enable model-predictive planning and control strategies. A robotic chain is a tendon-driven under-actuated multibody system that can piecewise control its curvature to approximate complicated 2D curves. As the actuation forces depend on the sequence of intermediate configurations to progressively achieve a target geometry - considering that too intense forces might compromise the stability and the integrity of the system - optimal planning strategies are expected to limit the maximum actuation forces. To this end, a model-predictive control process is required to properly actuate the system, for which a feedback-loop control is not possible due to the absence of sensors for low-cost and design reasons. Our contribution consists in the derivation of a dynamic model of the robotic chain to support model-predictive planning and control. An evaluation of the derived model proves its accuracy in comparison to an existing prototype.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131364022","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

Low-cost wearable rehabilitation devices using flexible pneumatic cylinder with built-in pneumatic driving system 采用内置气动驱动系统的柔性气缸的低成本可穿戴式康复装置

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576748

T. Akagi, S. Dohta, Y. Matsui, Hiroaki Tamaki, Naoki Kato

引用次数: 2

Disturbance compensation for iterative control of suspension durability test rigs 悬架耐久性试验台迭代控制的扰动补偿

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7577011

Tino Muller, Ulrich Vogele, C. Endisch

{"title":"Disturbance compensation for iterative control of suspension durability test rigs","authors":"Tino Muller, Ulrich Vogele, C. Endisch","doi":"10.1109/AIM.2016.7577011","DOIUrl":"https://doi.org/10.1109/AIM.2016.7577011","url":null,"abstract":"Endurance testing of the chassis, components and vehicle axles is a safety issue and therefore an essential part of the vehicle development process. In the automotive industry, durability experiments of vehicle axles are carried out in laboratories using multi-channel durability test rigs. The accurate load data replication of field measured data is important to obtain convincing durability results. Cross-coupling effects by channel interactions degrade the control accuracy of these rigs. Therefore, an iterative control method is applied to adapt all control inputs to compensate coupling induced disturbances. State-of-the-art processes require a high amount of test rig measurements to generate optimal control inputs which damage specimens preliminarily. In this article, a new method for disturbance compensation is presented. In the following, this method is compared to control input adaption without disturbance compensation and control input adaption with state-of-the-art disturbance compensation. All three methods are applied to an iterative control of a suspension rig and analyzed in terms of convergence speed, control accuracy and computational effort. The investigations revealed, that compensation methods generally increase the computational effort. The state-of-the-art compensation method became unstable for the considered steering maneuver while accurate control with fast convergence was achieved when applying the new compensation technique presented in this article. The significant increase of convergence speed justifies the additional computational effort compared to methods without compensation.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132305633","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: 3

Recent progress on sampling based dynamic motion planning algorithms 基于采样的动态运动规划算法研究进展

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576950

A. Short, Z. Pan, N. Larkin, S. Duin

引用次数: 23