2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)最新文献

Sliding impedance control for improving transparency in telesurgery 用于提高远程手术透明度的滑动阻抗控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990902

S. Khosravi, A. Arjmandi, H. Taghirad

引用次数: 5

Attitude control of an autonomous octorotor 自主转子的姿态控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990958

S. J. Haddadi, P. Zarafshan

引用次数: 5

Modeling of a two-stage flapper-nozzle electrohydraulic servo valve exposed to acceleration 两级挡板喷嘴电液伺服阀在加速度作用下的建模

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990912

Z. Khodaee, M. Zareinejad, S. S. Ghidary

{"title":"Modeling of a two-stage flapper-nozzle electrohydraulic servo valve exposed to acceleration","authors":"Z. Khodaee, M. Zareinejad, S. S. Ghidary","doi":"10.1109/ICROM.2014.6990912","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990912","url":null,"abstract":"The electrohydraulic valves are commonly used in the engineering applications because they cause the hydraulic systems to take the advantage of the electrical sensors and the electrical control commands. For the precise performance of these valves, disturbances in the valve elements dynamics will disturb the control process of the system. The electrohydraulic servo valves are greatly affected by the acceleration especially the centrifugal acceleration in the aerospace applications. In a two stage flapper-nozzle electrohydraulic valve, the external acceleration changes the pressure of the fluid leaving the nozzles. Moreover it affects the flapper and the spool of the valve like an external force. Thus when the applied electrical current is zero, the acceleration diverts the spool of the valve from the equilibrium point. In this study the pilot pressures of the spool is modeled in the unsteady state condition. The effects of the acceleration on the elements of the two stage electrohydraulic valve are investigated. By simulation of the obtained model of the valve, the behavior of the system is analyzed.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116454579","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

Parallel spring simplifies actuator output torque and improves feed-forward learning 并联弹簧简化了执行器输出扭矩，改善了前馈学习

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990918

Soroush Maleki, M. N. Ahmadabadi

{"title":"Parallel spring simplifies actuator output torque and improves feed-forward learning","authors":"Soroush Maleki, M. N. Ahmadabadi","doi":"10.1109/ICROM.2014.6990918","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990918","url":null,"abstract":"In robotics, particularly legged locomotion, there are situations where high gain feedback is not applicable. It is dangerous and may conduce to instability of the robot. In such situations, presence of a feed-forward controller helps the tracking problem while maintaining stability. However, these controllers usually require the system dynamics which may not be available. Furthermore, There are also situations where the frequency response of the actuator output torque is limited and may not be able to produce torques with high variations. In cases of unknown system dynamics, learning feed-forward scheme has been proposed which requires high number of basis functions according to system and trajectory. In this paper we propose a method that employs parallel spring in order to reduce higher frequency components of the actuator output torque. Moreover, the added spring will simplify the process of learning by reducing number of basis functions. Adaptive parallel spring is proposed for the case where different periodic motions are given to the system. Our simulations results on a two-link manipulator show that the adaptive spring will gradually simplify actuator output torque and improve feed-forward learning.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122457295","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: 2

Effect of motion parameters on time optimal path of biped robot using PSO algorithm 运动参数对双足机器人时间最优路径的影响

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990892

Nasim Zafari, Mohammad Hasan Ghesemi

引用次数: 0

Ball tracking with a 2-DOF spherical parallel robot based on visual servoing controllers 基于视觉伺服控制器的2自由度球面并联机器人球跟踪

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990916

Milad Eyvazi Hesar, M. T. Masouleh, A. Kalhor, M. Menhaj, Navid Kashi

{"title":"Ball tracking with a 2-DOF spherical parallel robot based on visual servoing controllers","authors":"Milad Eyvazi Hesar, M. T. Masouleh, A. Kalhor, M. Menhaj, Navid Kashi","doi":"10.1109/ICROM.2014.6990916","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990916","url":null,"abstract":"In this paper, an image based control architecture is developed f o r a 2-degree-of-freedom (DOF) spherical parallel robot. A camera, with digital output, is installed on the end-effector to follow the moving ball f o r a given color which is set by the user in the developed GUI. Some common image processing methods are applied on the obtained frames coming from eye-in-hand visual mechanism. These methods are used to filter out the background colors and noises from the image of the object in the image plane (screen). Smoothing the image of the object by using Median and Gaussian filter are used to precisely compute the centroid of the object in the screen. A PID and a sliding mode controller are introduced and designed to command actuators in such a way that the line of sight of the center of screen and the centroid of the image of the object are kept fixed. Implementation, testing and validation of the control algorithms are realized on the visual servoing architecture. Eventually, a comparison between the image based PID controller and the sliding mode controller is conducted and performances are fully discussed.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"249 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128690325","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: 11

Mechatronics modeling of a branching tendon-driven robot 分支肌腱驱动机器人的机电一体化建模

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990955

M. Bamdad, A. Mardany

引用次数: 4

Robust stability for bilateral teleoperation systems under time-varying delay by communication disturbance observer 基于通信干扰观测器的时变时滞双边遥操作系统鲁棒稳定性研究

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990891

Zahra Zeinaly, A. Ramezani, S. Ozgoli

{"title":"Robust stability for bilateral teleoperation systems under time-varying delay by communication disturbance observer","authors":"Zahra Zeinaly, A. Ramezani, S. Ozgoli","doi":"10.1109/ICROM.2014.6990891","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990891","url":null,"abstract":"In time-delayed systems in which the time delay is unknown and unpredictable, to guarantee the stability of the system, a compensation method should be used. In this paper, this method is based on the concept of network disturbance and communication disturbance observer (CDOB), which does not need the time delay model. Therefore, it can be implemented in teleoperation systems that contain communication channel with time-varying delay. However, it has been observed that the system model error seriously affects the steady-state characteristics and causes steady-state error. Also, applying disturbance to the system makes it unstable. Therefore, in this paper, by using slave's delayed torque instead of its delayed position, the structure of the conventional CDOB is changed and another structure for CDOB is proposed to achieve robustness against disturbance and model uncertainty. Also, steady-state characteristics and disturbance attenuation characteristic of the structure are studied. Simulation results are presented to demonstrate the effectiveness of the proposed structure.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124111228","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

Aerial obstacle estimation using RSSI observations based on OHLOSS diffraction model 基于OHLOSS衍射模型的RSSI观测的空中障碍物估计

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990962

S. M. Mehdi Dehghan, H. Moradi

{"title":"Aerial obstacle estimation using RSSI observations based on OHLOSS diffraction model","authors":"S. M. Mehdi Dehghan, H. Moradi","doi":"10.1109/ICROM.2014.6990962","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990962","url":null,"abstract":"This paper presents a new approach to estimate the location and height of the obstacle located between two unmanned aerial vehicles (UAVs) using Received Signal Strength Indication (RSSI) observations. The goal of developing this approach is to improve the localization of a radio frequency (RF) source by estimating the effect of obstacles on the signal attenuation. The effect of an obstacle on signal strength attenuation is the most important source of error in distance estimation based on general or empirical path loss model. Therefore, mapping the primary obstacle, which has the greatest effect on the signal attenuation, can improve the distance estimation. The main idea of the proposed approach is in the distinction between the effects of obstacle(s) on the signal attenuation, i.e. the diffraction loss, and the path loss. The proposed approach uses a model of diffraction loss to estimate the height and position of the primary knife-edge obstacle. The observations include the diffraction losses which are collected on the UAV's paths. Due to the Gaussian distribution of the diffraction loss observations and nonlinearity of the observation function, extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter are implemented and compared with each other. The results of the simulations show that the proposed approach is able to map an obstacle between two RF sources. Furthermore, the detected and estimated obstacle can be used for better RF source localization.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114319912","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: 2

Visual servoing control of robot manipulator with Jacobian matrix estimation 基于雅可比矩阵估计的机械臂视觉伺服控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990935

Farzane Nadi, V. Derhami, M. Rezaeian

引用次数: 13