2019 7th International Conference on Robotics and Mechatronics (ICRoM)最新文献_第2页

Experiental Robustness Evaluation of PID Controller for Position Control of a Cartesian Robot 直角坐标机器人位置控制PID控制器的鲁棒性实验评价

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071904

P. Madani, M. Mobaraki, S. Jahromi, V. Fakhari

{"title":"Experiental Robustness Evaluation of PID Controller for Position Control of a Cartesian Robot","authors":"P. Madani, M. Mobaraki, S. Jahromi, V. Fakhari","doi":"10.1109/ICRoM48714.2019.9071904","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071904","url":null,"abstract":"Proportional-integral-derivative (PID) controller is one of the most efficient schemes to control the position in robotics. In this paper, the design, manufacture, and control of a Cartesian robot with three prismatic joints are investigated. At first, the design of the robot is considered, which is divided into conceptual and detailed steps. In conceptual design, for horizontal axes, considering precision and cost, belt and pulley are chosen as an appropriate means to transfer rotational movement into linear. For the vertical axis, which needs more precision and self-locking feature, nut and screw are utilized. In detailed design, material, dimensions and technical features of the robot are determined. Moreover, as stepper motors have the advantage of high precision, they are used as actuators. After manufacturing and assembling the parts of the robot, a PID controller is designed and experimentally implemented to control the position of the end-effector. In design process of the controller, the effect of PID coefficients is studied. The controller is experimentally implemented for the robot and its robustness is evaluated in the presence of disturbance, sensor noise and mass uncertainty.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"301 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121462211","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

Design and Development of a Pressure-Sensitive Shoe Platform for Nao H25 Nao H25压敏鞋台的设计与开发

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071802

Amir Mehdi Shayan, Arman Khazaei, Amin Hamed, M. T. Masouleh

{"title":"Design and Development of a Pressure-Sensitive Shoe Platform for Nao H25","authors":"Amir Mehdi Shayan, Arman Khazaei, Amin Hamed, M. T. Masouleh","doi":"10.1109/ICRoM48714.2019.9071802","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071802","url":null,"abstract":"This paper introduces a smart pressure-sensitive platform designed in a modular manner similar to the shape of the foot of the Nao H25 V5 humanoid robot; hence, any H25 Nao can easily wear it like a shoe. The main purpose of the developed shoe system is to accurately estimate and monitor ground reactive forces and the plantar pressure distribution of the foot of the Nao in real-time. In order to measure these forces, a unique pressure sensing element was designed and developed and four sensing elements have been placed at the bottom of the shoe. Since the sensing element should be in direct contact with the ground, a soft pressure sensing element should be utilized it should be flexible enough and also can withstand the weight of the robot. The presented sensing element consists of a barometric pressure sensor and a silicone coating. It has been designed in a way that can withstand extreme burst pressures without being damaged, and it has a linearity of up to 300 N. All the necessary electrical components such as battery and wireless module are built-in inside the shoe in order to make a standalone wireless-enabled platform that seamlessly integrates with Nao without any complications. The presented shoe platform can measure the center of pressure across the plantar surface of the foot in real-time. These parameters can help form a comprehensive balance controller for Nao which can have significant value in a variety of applications. The calculated parameters and sensor readings have been preliminarily validated, and the estimated center of pressure is comparable with similar studies.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126240017","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

Advanced Driving Assistance System using distributed computation on single-board computers 先进的驾驶辅助系统采用分布式计算的单板计算机

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071853

K. Abrinia, M. Ayati, H. N. Shirvan, Amin Abazari, Ali Haddad Tabrizi, Mostafa Shahbazzadeh, Zeinab Maroufi, M. Akrami, Erfan Safaee, Amirhossein Oliaei Fasakhodi, Amirhossein Panahi

{"title":"Advanced Driving Assistance System using distributed computation on single-board computers","authors":"K. Abrinia, M. Ayati, H. N. Shirvan, Amin Abazari, Ali Haddad Tabrizi, Mostafa Shahbazzadeh, Zeinab Maroufi, M. Akrami, Erfan Safaee, Amirhossein Oliaei Fasakhodi, Amirhossein Panahi","doi":"10.1109/ICRoM48714.2019.9071853","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071853","url":null,"abstract":"Due to increasing use of vehicles and road traffic, drive safety has become an important issue. Therefore, an Advanced Driving Assistant System (ADAS) can be a convenient option to increase driving safety. This paper presents a model of an ADAS that is capable of driving from one place to another in different paths such as curved, straight and straight line followed by curved lines. This area of research is divided into several sub-domains, such as deep learning, hardware platform, computer vision, and control. Every self-driving car must be aware of its surroundings and act accordingly. Advances in neural networks and deep learning made it possible to extract information from cameras easily and robustly. In this paper, a neural network is trained to identify various objects such as traffic lights and pedestrians. In addition, image processing is used to detect road lines. due to high computational costs of image processing operations, a network of embedded systems are utilized. Furthermore, MPC control method is used for automated and intelligent steering that makes the right decisions in a timely manner with a small error.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"39 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132359721","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

Semi passive kneed walker: Analysis of foot parameters for an effective gait balance 半被动膝助行器:有效步态平衡的足部参数分析

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071882

H. Izi, M. Naraghi, A. Safa

引用次数: 0

Designing, Prototyping, and Controlling a Portable Rehabilitation Robot for the Shoulder Physiotherapy and Training 用于肩部物理治疗和训练的便携式康复机器人的设计、原型制作和控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071844

M. A. Soleimani, H. Zohoor, AliReza Fallah Yakhdani, M. Heravi, Esmaeil Mohammadi

引用次数: 0

Development of a Health-Monitoring Device for Activity Recognition and Fall Detection 一种用于活动识别和跌倒检测的健康监测装置的研制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071909

Amirreza Razmjoofard, A. Sadighi, M. Zakerzadeh, Suorena Saeedi

{"title":"Development of a Health-Monitoring Device for Activity Recognition and Fall Detection","authors":"Amirreza Razmjoofard, A. Sadighi, M. Zakerzadeh, Suorena Saeedi","doi":"10.1109/ICRoM48714.2019.9071909","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071909","url":null,"abstract":"Activity recognition plays a crucial role in health monitoring systems. Most of our vital parameters like heartbeat rate or blood pressure are dependent on the activity we are doing at the time, and without knowing that, it is hard to figure out the anomalies. Besides, activity recognition can help us to detect emergency situations like falling, or even heart stroke. Knowing the importance of detecting unusual activities (, e.g. falling) and usual activities (, e.g. walking), this research has investigated the possibility of detecting fall and Activities of Daily Living (ADLs) by the help of the three dominant frequencies of accelerations of wrist in each axis and their amplitudes. In this regard, a wearable device is designed with an IMU to detect walking, running, staying still and falling. Decision function (statistical model) is calculated using ANN. To train the function, 674 samples are gathered from almost 30 people. Results show 94.8% accuracy in detecting ongoing activity and if we only consider distinguishing fall from ADLs, the values for accuracy, sensitivity and specificity are 96%, 88% and 98%, respectively.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132645683","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

Robust Finite Time Control of Robot Manipulators Using Time Delay Estimation Technique 基于时滞估计技术的机械臂鲁棒有限时间控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071848

M. Taefi, M. Khosravi

引用次数: 0

Performance Improvement of a Capacitive MEMS Accelerometer using Three Phase Sensing Approach 采用三相传感方法改进电容式MEMS加速度计的性能

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071818

M. Tahmasebipour, Mohammad Sangchap, A. Vafaei

{"title":"Performance Improvement of a Capacitive MEMS Accelerometer using Three Phase Sensing Approach","authors":"M. Tahmasebipour, Mohammad Sangchap, A. Vafaei","doi":"10.1109/ICRoM48714.2019.9071818","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071818","url":null,"abstract":"The MEMS accelerometers play a pivotal role in the medical, automotive and smart phones industries. In this paper, a new approach to measure the acceleration by the capacitive MEMS accelerometer using the finite element analysis method is studied. This novel mechanism, which called the three-phase method, enhances the sensitivity of the accelerometer in comparison to the conventional two-phase measurement method and is capable of eliminating offsets and effects of manufacturing tolerances. In the two-phase method, there are generally only two capacitances between the rotor and stator electrodes of the accelerometer. These capacitors vary by applying the acceleration and relative displacement of the electrodes with a phase difference of 180. On the contrary, in the three-phase method, six variable capacitances vary with the phase difference of 120. In the latter approach, the sensitivity is twice of the two-phase approach, and also by adjusting the electrical phase angle, the manufacturing tolerances can be eliminated. The frequency response was investigated in this paper, which shows the ultra-low sensitivity of this accelerometer to the unwanted cross-sectional and rotational accelerations.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121956319","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

Optimal-tuned Parameters for ℒ1 Adaptive Control 自适应控制参数优化

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071843

Pooyan Nayyeri, Arman Mohammadi, M. Zakerzadeh

引用次数: 0

Deep Learning Approach For Object Tracking Of RoboEye 机器眼目标跟踪的深度学习方法

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071857

A. Moori, Javad Khoramdel, S. Moosavian

引用次数: 0