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2019 7th International Conference on Robotics and Mechatronics (ICRoM)最新文献

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Position Estimation for Drones based on Visual SLAM and IMU in GPS-denied Environment gps拒绝环境下基于视觉SLAM和IMU的无人机位置估计
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071826
Hamid Didari Khamseh Motlagh, F. Lotfi, H. Taghirad, Saeed Bakhshi Germi
{"title":"Position Estimation for Drones based on Visual SLAM and IMU in GPS-denied Environment","authors":"Hamid Didari Khamseh Motlagh, F. Lotfi, H. Taghirad, Saeed Bakhshi Germi","doi":"10.1109/ICRoM48714.2019.9071826","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071826","url":null,"abstract":"Due to the increased rate of drone usage in various commercial and industrial fields, the need for their autonomous operation is rapidly increasing. One major aspect of autonomous movement is the ability to operate safely in an unknown environment. The majority of current works are persistently using a global positioning system (GPS) to directly find the absolute position of the drone. However, GPS accuracy might be not suitable in some applications and this solution is not applicable to all situations. In this paper, a positioning system based on monocular SLAM and inertial measurement unit (IMU) is presented. The position is calculated through the semi-direct visual odometry (SVO) method alongside IMU data, and is integrated with an extended Kalman filter (EKF) to enhance the efficiency of the algorithm. The data is then employed to control the drone without any requirement to any source of external input. The experiment results for long-distance flying paths is very promising.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"87 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":"122837636","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: 9
Contror-or-quadrotor position and attitude by the LMI-based sliding mode technique 通过基于lmi的滑模技术实现控制器或四旋翼的位置和姿态
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071809
Masoud Shirzadeh, A. Amirkhani, M. Shojaeefard, H. Behroozi
{"title":"Contror-or-quadrotor position and attitude by the LMI-based sliding mode technique","authors":"Masoud Shirzadeh, A. Amirkhani, M. Shojaeefard, H. Behroozi","doi":"10.1109/ICRoM48714.2019.9071809","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071809","url":null,"abstract":"In this paper, a robust nonlinear sliding-mode controller based on linear matrix inequality (LMI) has been proposed for controlling a quadrotor unmanned helicopter (QUH). Three subsystems have been considered in the dynamics of this quadrotor helicopter: the section that produces the lift force, the section that establishes the desired roll and pitch angles, and the section that generates the control signals in the longitudinal and transverse directions. Then, for each of these sections, a robust sliding-mode type controller has been designed, in which the sliding surface gains are obtained by the LMI method. The stability and the error convergence of this closed-loop system have been evaluated by means of Lyapunov criterion. The presented findings confirm the effective performance of the proposed approach in controlling the position and attitude of the considered QUH in the presence of external disturbances.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"3 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":"129592332","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
Effect of hysteresis on the control of AFM Micro Robot by using both piezoelectric layer and base actuation 压电层驱动和基驱动对AFM微型机器人控制的滞后影响
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071885
A. H. Korayem, Arash Hashemi
{"title":"Effect of hysteresis on the control of AFM Micro Robot by using both piezoelectric layer and base actuation","authors":"A. H. Korayem, Arash Hashemi","doi":"10.1109/ICRoM48714.2019.9071885","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071885","url":null,"abstract":"in this paper, the effect of hysteresis on the control of atomic force microscope (AFM) multilayer micro cantilever (MC) have been studied. Governing equations are derived by using the modified couple stress theory (MCS). Hysteresis phenomenon causes amplitude difference and phase delay between simulation and experimental analysis. In this regard, PI model is utilized to investigate hysteresis effect on MC since it focuses on the physical aspect of hysteresis. Moreover, it is more suitable for real-time applications. In order to find unknown PI coefficients, genetic algorithm has been used. The results show 0.05 nm amplitude difference and 0.7ms phase delay. In addition, amplitude control of MC is examined in non-contact mode. The non-classic dynamic modeling of MC plays a great role in improving AFM control which differentiates it with previous studies. Two control methods of PID and nonlinear sliding mode control (SMC) are applied to the system. In near-surface mode, nonlinear forces act on MC which counts for a more complex dynamics. Two methods of base and piezo excitation have been inquired in each state. Overall, SMC reveals more accurate results in near-surface mode. In this mode, SMC control effort is less than PID control.","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":"128259221","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
Finite-Time Event-triggered Consensus of Nonlinear Heterogeneous Multi-agent Systems 非线性异构多智能体系统的有限时间事件触发一致性
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071869
Shahram Yadollahi, Hajar Atrianfar
{"title":"Finite-Time Event-triggered Consensus of Nonlinear Heterogeneous Multi-agent Systems","authors":"Shahram Yadollahi, Hajar Atrianfar","doi":"10.1109/ICRoM48714.2019.9071869","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071869","url":null,"abstract":"In this paper, we peruse finite-time consensus of nonlinear heterogeneous multi-agent systems (MASs) under the circumstances of uncertainty and disturbance using event-triggered control and sliding-mode control (SMC). The approach is based on two kinds of agents (first-order and second- order nonlinear agents). We propose centralized and distributed event-based schemes in two different parts. First, we propose a centralized scheme that is robust against uncertainties and reduces the controllers knowledge about the state of agents for updating the control laws. Second, we present a robust and distributed scheme, under which each agent by monitoring the state of itself and neighboring agents determines when the whole of the agents should update their inputs. Theoretical verification of the results by simulation are also presented.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"80 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":"124608283","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
EMG- blased Fatigue Adaptation in Admittance Control of Hand Rehabilitation 基于肌电图的疲劳适应在手部康复导纳控制中的应用
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071817
Maryam Mashayekhi, M. Moghaddam
{"title":"EMG- blased Fatigue Adaptation in Admittance Control of Hand Rehabilitation","authors":"Maryam Mashayekhi, M. Moghaddam","doi":"10.1109/ICRoM48714.2019.9071817","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071817","url":null,"abstract":"Prolonged muscle activity affects the neuromuscular system's ability to produce maximum force and will cause fatigue in the muscle. Rehabilitation exercises must contain certain repetitive hand movements with high intensity. Therefore, rehabilitation therapy with constant task difficulty levels may cause damage to the post-stroke patient. Thus, the problem is to design a system that is adaptable based on the user's condition. Using electromyography (EMG) signals to make better communication with rehabilitation robots has been long established. A modifying controller, according to these signals ensures a proper and safe exercise for the operator. An admittance controller with an adapting strategy utilizing a machine learning algorithm on a 2DOF robot is presented. Twenty healthy people participated in the experiment, and it is shown that the controller can provide adequate user assistance.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"28 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":"126089541","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
Design and Optimization of a Multi-DOF Hand Exoskeleton for Haptic Applications 面向触觉应用的多自由度手外骨骼设计与优化
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071884
E. Amirpour, M. Savabi, A. Saboukhi, M. R. Gorii, H. Ghafarirad, Rasul Fesharakifard, S. M. Rezaei
{"title":"Design and Optimization of a Multi-DOF Hand Exoskeleton for Haptic Applications","authors":"E. Amirpour, M. Savabi, A. Saboukhi, M. R. Gorii, H. Ghafarirad, Rasul Fesharakifard, S. M. Rezaei","doi":"10.1109/ICRoM48714.2019.9071884","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071884","url":null,"abstract":"This paper describes the design and kinematic optimization of a novel, underactuated, linkage driven exoskeleton mechanism to provide haptic force feedback to the index and thumb fingers. Existing exoskeletons are either not compatible with the human hand kinematic chain or so heavy that they cannot be compatibly installed on a human hand, which in turn affects the natural motion of the hand. In order to improve functionalities, the design of a novel (HEXON11Hand Exoskeleton of New technologies research center) based on a multi-criteria optimization is proposed to simultaneously maximize applied force to the finger and workspace of the attached exoskeleton. The optimization procedure consists of both the Perpendicular Impact Force (PIF) and the Global Isotropy Index (GIl), considering worst-case collision avoidance. Finally, the exoskeleton mechanism functionalities within the achieved link length through the optimization procedure are validated, and design is proposed for further fabrication.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"61 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":"127888228","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
Design and Prototyping of One Degree-of-Freedom Rehabilitation Robotic Arm with Variable Weights 可变重量单自由度康复机械臂的设计与样机
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071816
Mahdi Atashi Gw.olestan, Amin Hamed, M. T. Masouleh
{"title":"Design and Prototyping of One Degree-of-Freedom Rehabilitation Robotic Arm with Variable Weights","authors":"Mahdi Atashi Gw.olestan, Amin Hamed, M. T. Masouleh","doi":"10.1109/ICRoM48714.2019.9071816","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071816","url":null,"abstract":"In this paper, a novel concept is proposed to design a robotic arm for rehabilitating individuals with muscle disability. Wearable robots are used for dealing with this challenge. Many of these robots can only reduce certain amounts of hand weight and whatever it grabs, and the system force does not change with the weight of hand. The existing systems are designed for certain weights and with any variation in length, the device should be set to static balance manually; a process which takes time and expertise. The proposed mechanism, when the device is connected to the individual's hand, it synchronizes itself with the weight and torque automatically using a novel force sensor, which is based on a barometer device, and the reaches statistic balance. In addition, if a weight is lifted, the device rebalances with the new weight and reaches statistic balance accordingly. In order to provide statistic balance in this system, counterweight is used which neutralizes 98% of sum of weight of hand and the weight.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"1 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":"129050049","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
Deployment of Model-based Design Approach for a Mini -quadcopter 基于模型的小型四轴飞行器设计方法的部署
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071917
Amin Talaeizadeh, E. Najafi, H. N. Pishkenari, A. Alasty
{"title":"Deployment of Model-based Design Approach for a Mini -quadcopter","authors":"Amin Talaeizadeh, E. Najafi, H. N. Pishkenari, A. Alasty","doi":"10.1109/ICRoM48714.2019.9071917","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071917","url":null,"abstract":"In recent years drones are becoming more popular in research and industry, due to their agility. By increasing the application of quadcopters in different fields, having a straight forward procedure to design a proper controller and deploy it on the quadcopter is worthwhile. This paper proposes the implementation of model-based design (MBD) approach for control design of a mini-quadcopter. The MBD methodology is utilized to simulate the quadcopter model with aerodynamic effects. A proper controller is designed based on the experimentally tuned simulator and then deployed on the real quadcopter with the use of Matlab/Simulink code generation capability. The experimental result derived from the test flights with harmonic trajectories validates the benefits of using the MBD methodology for control design in quadcopters.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"12 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":"133084546","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: 6
Wind Compensation in Trajectory Tracking of a Fixed Wing UAV Using a Nonlinear Model Predictive Controller based on the Particle Swarm Optimization 基于粒子群优化的非线性模型预测控制器在固定翼无人机轨迹跟踪中的风补偿
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071829
H. Nobahari, Alireza Sharifi
{"title":"Wind Compensation in Trajectory Tracking of a Fixed Wing UAV Using a Nonlinear Model Predictive Controller based on the Particle Swarm Optimization","authors":"H. Nobahari, Alireza Sharifi","doi":"10.1109/ICRoM48714.2019.9071829","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071829","url":null,"abstract":"In this study, a nonlinear model predictive controller based on the particle swarm optimization is used for trajectory tracking of a fixed wing UAV and its performance is investigated in the presence of wind compensation and without it. For this purpose, the components of the wind velocity and the UAV states are estimated using a nonlinear filter and then compensated in the proposed controller architecture. Finally, stability of the proposed controller is proved and analyzed. The results show that performance of the UAV flight is effectively improved when the components of the wind velocity are compensated within the controller.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"23 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":"127853628","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
Kinematic Analysis and Optimal Design of a New 3T1R Parallel Mechanism 新型3T1R并联机构的运动学分析与优化设计
2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071872
M. Malekpour, Farid Kaviany, Rasul Fesharakifard, M. Khosravi
{"title":"Kinematic Analysis and Optimal Design of a New 3T1R Parallel Mechanism","authors":"M. Malekpour, Farid Kaviany, Rasul Fesharakifard, M. Khosravi","doi":"10.1109/ICRoM48714.2019.9071872","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071872","url":null,"abstract":"Decoupled motions in low mobility parallel manipulators, which maintains some translation movement or orientation in space by contrast to Stewart platform that can translate and rotate in any direction, lead to more straightforward mechanical structure, larger workspace, lower cost, higher accuracy, and more natural control. A four-degree-of-freedom (DOF) 3T1R parallel manipulator is presented in this paper. This manipulator generates the family of so-called SCARA motions, Schönflies motions, or 3T1R motions, in which the moving platform can translate in all directions and rotate around an axis of a fixed direction whose rotational motion is a roll motion. The position analysis and kinematic modeling for the mechanism are performed, and its workspace size and kinematic characteristic are examined. This manipulator can be used in robotic applications involving the positioning and orientation of a rigid body with high stiffness or accuracy.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"154 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":"116225353","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
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