发布求助
文献互助 智能选刊 最新文献

Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering最新文献

筛选
英文 中文
Tuning of PID Controller Parameters of a Biped Robot using IWO Algorithm 用IWO算法整定双足机器人PID控制器参数
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191504
R. Mandava, P. Vundavilli
{"title":"Tuning of PID Controller Parameters of a Biped Robot using IWO Algorithm","authors":"R. Mandava, P. Vundavilli","doi":"10.1145/3191477.3191504","DOIUrl":"https://doi.org/10.1145/3191477.3191504","url":null,"abstract":"This paper presents a recently established stochastic optimization approach that has been stimulated from the behavior of weed colonization for biped robot applications. The aim of using the algorithm is to tune the gains (i.e. Kp, Kd and Ki) of the PID controller used by a biped robot while walking over a flat terrain. The dynamics of the biped robotic mechanism is derived after using Lagrange-Euler formulation. These dynamic equations are further used to design the PID controller for each joint of the biped robot. Initially, the performance of the Invasive Weed Optimization (IWO)-tuned PID controller is compared in terms of error and the torque required at various joints. Further, the IWO tuned PID controller is tested on a real 18-DOF biped robot and found that it has successfully negotiated a flat terrain with the help of a dynamically balanced gait generated by the controller.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114912181","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
A Flexible Suction Based Grasp Tool and Associated Grasp Strategies for Handling Meat 一种灵活的基于吸力的抓握工具及相关的抓握策略
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191483
Troels Bo Jørgensen, Bo Renneberg Hansen, Mads Møller Pedersen, N. Krüger, Niels Worsøe Hansen
{"title":"A Flexible Suction Based Grasp Tool and Associated Grasp Strategies for Handling Meat","authors":"Troels Bo Jørgensen, Bo Renneberg Hansen, Mads Møller Pedersen, N. Krüger, Niels Worsøe Hansen","doi":"10.1145/3191477.3191483","DOIUrl":"https://doi.org/10.1145/3191477.3191483","url":null,"abstract":"In this paper, we present a suction cup based gripper tool for grasping pork bellies. The tool is attached to a 6DOF robot arm in order to test different grasp strategies. The task of grasping pork bellies is difficult since the objects are highly flexible. Due to the deformations, an airtight connection can form between the meat and the object below it. During the lift, this can lead to a vacuum which sometimes causes the grasp to fail. Thus it is important that the tool and the grasp strategy is able to minimize the effects of this vacuum in order to generate a stable grasp. Furthermore, there is a high variation in the meat products and the initial placement of the products. Thus the tool has to be sufficiently flexible to handle the different cases robustly.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123417264","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: 10
Movement Stability of Tractor Unit 拖拉机机组的运动稳定性
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191501
Y. Stroganov, O. Lukashuk, A. Akulova
{"title":"Movement Stability of Tractor Unit","authors":"Y. Stroganov, O. Lukashuk, A. Akulova","doi":"10.1145/3191477.3191501","DOIUrl":"https://doi.org/10.1145/3191477.3191501","url":null,"abstract":"The article studies how movement stability of the tractor unit with a semi-mounted two-axle trailer is influenced by some kinematic parameters, in particular, by a change in the ratio between eccentricity (displacement of the platform support point of the trailer in relation to the axis of the front bogie wheels) and the wheelbase of the front bogie when the required additional load to the rear tractor wheels is selectively applied. The conclusion is made that the critical speed of a semi-mounted two-axle trailer increases with an increase in the ratio between eccentricity and the wheelbase of the front bogie. Which means that displacement of the platform support point of a trailer along the vehicle dolly wheelbase towards the tractor leads to more stable movement of the tractor unit for any ratios between the wheelbases of a dolly and a semitrailer.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126362217","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
Collective Behavior Strategy Development Based On Friendship of Robots 基于机器人友谊的集体行为策略开发
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191479
V. Abrosimov, A. Mochalkin
{"title":"Collective Behavior Strategy Development Based On Friendship of Robots","authors":"V. Abrosimov, A. Mochalkin","doi":"10.1145/3191477.3191479","DOIUrl":"https://doi.org/10.1145/3191477.3191479","url":null,"abstract":"This paper considers a group of autonomous robots performing collective tasks in an conflict environment. The Robots jointly generate situational awareness information. The functions and resources of robots are represented as external services. The robot can request and receive help as the services from other robots and provide its own services for automatically using by other robots via online requests when needed. Unlike the existing solutions it has been proposed to implement a new paradigm of robots' collective behavior, the so-called \"the friendship of robots\". This paradigm is seen as a new property of robot autonomous control systems that is formed through training. Such approach realizes the principle of collectivism. Robots have been trained in the friendship paradigm are more effective in a conflict environment. The constructing the strategy of robot trained in the paradigm \"pragmatist\" is given as the example.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130816554","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
Comparative Analysis of EMG Signal Features in Time-domain and Frequency-domain using MYO Gesture Control 基于MYO手势控制的肌电信号时域和频域特征对比分析
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191495
Haider Ali Javaid, N. Rashid, M. Tiwana, Muhammad Waseem Anwar
{"title":"Comparative Analysis of EMG Signal Features in Time-domain and Frequency-domain using MYO Gesture Control","authors":"Haider Ali Javaid, N. Rashid, M. Tiwana, Muhammad Waseem Anwar","doi":"10.1145/3191477.3191495","DOIUrl":"https://doi.org/10.1145/3191477.3191495","url":null,"abstract":"Feature extraction is a pronounced method to infer the information utility which is concealed in electromyography (EMG) signal to study the characteristic properties and behavior of signal. This study gives a comparative analysis of thirteen complete and most up-to-date EMG feature signals in Time-domain and Frequency-domain. Particularly, the EMG signals are obtained from a device MYO gesture control on an embedded system. For this purpose, four healthy male volunteers are considered to perform four different hand movements based on stationary, double tap, single finger movement and finger spread. To be a successful classification of these EMG features in both domains, we prefer attribute selected classifier as it gives the better performance and higher rate of accuracy i.e. 93.8%. The experimental results prove that features in time-domain are superfluity and redundant while features in frequency-domain (measured by statistical parameters of EMG power spectral density) show the ultimate dominance and signal characterization. The findings of this study are highly beneficial for further use in order to predict the behavior of EMG in pattern recognition and in classification of EMG signals for assistive devices or in powered human arm prosthetics.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"56 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124477518","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: 12
Monocular Visual-Inertial State Initialization for Micro Aerial Vehicles 微型飞行器的单目视觉惯性状态初始化
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191496
Yao Xiao, X. Ruan, Xiaoping Zhang
{"title":"Monocular Visual-Inertial State Initialization for Micro Aerial Vehicles","authors":"Yao Xiao, X. Ruan, Xiaoping Zhang","doi":"10.1145/3191477.3191496","DOIUrl":"https://doi.org/10.1145/3191477.3191496","url":null,"abstract":"Monocular visual-inertial state estimator can be classified into filterbased and optimization-based method. However, both of these methods require an initial state to bootstrap the system. In this paper, we propose a robust initialization algorithm to provide high-quality initial guess for the monocular visual-inertial system (VINS). The proposed method takes the up-to-scale camera poses estimated by monocular vision-only SLAM (simultaneous localization and mapping) and the IMU sensor measuements as input. The gyroscope bias are firstly estimated by minimizing the error between pre-integrated gyroscope measurements and camera attitude measurements. After that, a rough gravity vector is calculated by aligning the preintegrated measurements and camera translation measurements. The observable of the accelerometer bias is also checked in this step. The gravity vector is refined in the third step, with the velocity is estimated in this step as well as the acceleration bias if it is observable. The practicability of the proposed approach is validated by simulation and real datasets experiments.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133325339","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
Automated Musical Instruments 自动化乐器
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3199059
Ali Al-Humairi, Omar Al-Kindi, N. Jabeur
{"title":"Automated Musical Instruments","authors":"Ali Al-Humairi, Omar Al-Kindi, N. Jabeur","doi":"10.1145/3191477.3199059","DOIUrl":"https://doi.org/10.1145/3191477.3199059","url":null,"abstract":"This paper looks into the possibilities and challenges of automating musical instruments, and allowing instruments to be played remotely by mobile phone. The methodology adapted was theorize and build a prototype of a transferrable automation system that can be applied onto musical instruments, maintaining the qualities of the instrument and its authenticity. The research leads to building a prototype instrument designed to be automated via mobile phone application","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127834498","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
Multi-Parametric Programming based Cascade Control System for Unmanned Aerial Vehicles 基于多参数规划的无人机串级控制系统
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191484
Dao Phuong Nam, T. Khanh, Le Duy Tung, La Van Truong, N. Quyen
{"title":"Multi-Parametric Programming based Cascade Control System for Unmanned Aerial Vehicles","authors":"Dao Phuong Nam, T. Khanh, Le Duy Tung, La Van Truong, N. Quyen","doi":"10.1145/3191477.3191484","DOIUrl":"https://doi.org/10.1145/3191477.3191484","url":null,"abstract":"This paper considers the problem of cascade control system for unmanned aerial vehicles (UAVs). The proposed control structure is a hierarchical scheme including an offline model predictive control (MPC) based on multi-parametric programming (MPP) technique and trajectory generator using genetic algorithm (GA). Simulation results are presented to show the effectiveness of the proposed strategy.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133116728","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
Survey of methods for design of collaborative robotics applications- Why safety is a barrier to more widespread robotics uptake 协作机器人应用程序设计方法综述-为什么安全是更广泛的机器人应用的障碍
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191507
José Saenz, N. Elkmann, O. Gibaru, P. Neto
{"title":"Survey of methods for design of collaborative robotics applications- Why safety is a barrier to more widespread robotics uptake","authors":"José Saenz, N. Elkmann, O. Gibaru, P. Neto","doi":"10.1145/3191477.3191507","DOIUrl":"https://doi.org/10.1145/3191477.3191507","url":null,"abstract":"While collaborative robots have made headlines through recent industrial applications, they are not as widespread in industry as it may seem. The authors of this paper believe that one reason for this slow uptake is due to the high requirements on the safety and the lack of engineering tools for analyzing collaborative robotics applications. Systems engineering provides a good framework for creating the engineering tools needed for faster and more reliable deployment, but has only recently been applied to robotics challenges. In this paper, we discuss the state of the art for designing robotics applications featuring human-robot collaboration (HRC) and then review existing systems engineering approaches, which could offer support. Our review aims to support the robotics community in the future development of engineering tools to better understand, plan, and implement applications featuring collaborative robotics.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116764818","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: 45
The Influence of Load Models on Power System Transient Stability Analysis 负荷模型对电力系统暂态稳定分析的影响
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191488
M. Zhang
{"title":"The Influence of Load Models on Power System Transient Stability Analysis","authors":"M. Zhang","doi":"10.1145/3191477.3191488","DOIUrl":"https://doi.org/10.1145/3191477.3191488","url":null,"abstract":"This paper describes the concept and classification of power load models in detail. And then to IEEE 3 machine 9 node system as an example,the influence of different load models on the transient stability of the power system is analyzed by using the PSASP, and the results are as follows: different load models have a great impact on the results of power system simulation operations, so the choice of load model should be careful.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127518378","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
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信