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

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A Cognitive Map Learning Model Based on Hippocampal Place Cells 基于海马位置细胞的认知地图学习模型
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191497
Jie Chai, X. Ruan, Jing Huang, Xiao-qing Zhu
{"title":"A Cognitive Map Learning Model Based on Hippocampal Place Cells","authors":"Jie Chai, X. Ruan, Jing Huang, Xiao-qing Zhu","doi":"10.1145/3191477.3191497","DOIUrl":"https://doi.org/10.1145/3191477.3191497","url":null,"abstract":"Aiming at the environment cognition and navigation problem of autonomous mobile robots in unknown environment, a cognitive map learning model is proposed based on hippocampal place cells, which can memorize and map surroundings. The model uses the self-organizing feature map as the basic structure. Each hippocampal place cell is represented by a neural node. The robot builds up the hippocampal place cells layer through environment exploration. The simulation results show that the model has self-learning ability, which enables robots to acquire environment knowledge and establish a complete cognitive map gradually like human beings and animals, making the robot's environment cognition and navigation process become more bionic and intelligent.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"16 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":"116238833","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
Workspace Analysis of a One Cable Planar Cable Robot 单缆平面电缆机器人的工作空间分析
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191491
A. Mashayekh, M. Sadigh, M. Morovat
{"title":"Workspace Analysis of a One Cable Planar Cable Robot","authors":"A. Mashayekh, M. Sadigh, M. Morovat","doi":"10.1145/3191477.3191491","DOIUrl":"https://doi.org/10.1145/3191477.3191491","url":null,"abstract":"Rehabilitation robots are usually made of rigid links which make them heavy with limited Workspace. Cable robots are introduced in rehabilitation to compensate these weaknesses. However, cable robots have an important weakness that they can only apply tension. This can substantially restrict the workspace of the robot. In this paper we introduce a novel configuration, which is a combination of cable and springs for a two degrees of freedom (DOF) planar cable robot, which is to be used for rehabilitation purposes. A set of springs are used to increase the workspace. Parameters of the springs are obtained through an optimization process. Static and dynamic workspace for this robot are then calculated for different configurations of springs calculated in design process.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"54 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":"128129800","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
Fuzzy Adaptive Synchronized Sliding Mode Control Of Parallel Manipulators 并联机器人模糊自适应同步滑模控制
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3199060
T. Le, Q. Doan
{"title":"Fuzzy Adaptive Synchronized Sliding Mode Control Of Parallel Manipulators","authors":"T. Le, Q. Doan","doi":"10.1145/3191477.3199060","DOIUrl":"https://doi.org/10.1145/3191477.3199060","url":null,"abstract":"Control of parallel manipulators is a challenging and difficult task. In this paper, we propose a new adaptive synchronized sliding mode controller for planar parallel manipulators by using fuzzy logic system. The proposed controller is based on the combination of the definition of synchronized control, sliding mode control and online self-tuning fuzzy logic system. Firstly, the dynamic model of parallel manipulators is presented in active joint space. Based on this dynamic model, a synchronized sliding mode controller is developed. And then, in order to compensate the uncertainties of the control system, an online self-tuned fuzzy logic system is adopted. The self-tuning law is proposed by using the cross-coupling error of the parallel manipulator. The stability of the closed loop system is guaranteed by using Lyapunov theory. The simulations were conducted on Matlab/Simulink to verify the effectively of the proposed control algorithm.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"46 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":"132230401","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
Computational Load Comparison of Multiplexed and Standard Model Predictive Control 多路和标准模型预测控制的计算负荷比较
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191508
XiaoQiong Wang, W. Ho, K. Ling
{"title":"Computational Load Comparison of Multiplexed and Standard Model Predictive Control","authors":"XiaoQiong Wang, W. Ho, K. Ling","doi":"10.1145/3191477.3191508","DOIUrl":"https://doi.org/10.1145/3191477.3191508","url":null,"abstract":"Multiplexed Model Predictive Control (MMPC) has been motivated as a strategy to reduce real-time computational load carried out by the controller in solving a finite-time constrained optimisation problem online. In this paper, we carried out experiments to compare the computational load of MMPC and standard MPC. The experiments were carried out on a multizone thermal processing equipment commonly used in semiconductor manufacturing. The results showed that MMPC has computational advantage over the standard MPC, for large horizon and when constraints are present.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"96 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":"132840599","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
Workspace Analysis of a Planar Two Cables Robot 平面双缆机器人的工作空间分析
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191500
M. Morovat, M. Sadigh, A. Mashayekh
{"title":"Workspace Analysis of a Planar Two Cables Robot","authors":"M. Morovat, M. Sadigh, A. Mashayekh","doi":"10.1145/3191477.3191500","DOIUrl":"https://doi.org/10.1145/3191477.3191500","url":null,"abstract":"Rehabilitation robots are usually made of rigid links which make them heavy. So their application is limited to the health clinics and does not have home use. Cable robots compensate these defects. They have an important defect that can only apply tension. This can substantially restrict the workspace of the robot. In this paper we introduce a configuration, which is combination of cables and springs for a two degrees of freedom (DOF) planar cable robot. Parameters of springs are obtained through an optimization process. Static and dynamic workspace for this robot then calculated for different configurations of springs calculated on design process. We choose the configuration that has the widest dynamic and static workspace and compare to a different two DOF with two actuators cable robot.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"488 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":"128794767","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
SysML as a Tool for Requirements Traceability in Mechatronic Design SysML作为机电一体化设计中的需求跟踪工具
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191494
Enrique J. Vidal, Elizabeth R. Villota
{"title":"SysML as a Tool for Requirements Traceability in Mechatronic Design","authors":"Enrique J. Vidal, Elizabeth R. Villota","doi":"10.1145/3191477.3191494","DOIUrl":"https://doi.org/10.1145/3191477.3191494","url":null,"abstract":"Modern mechatronic systems have to deal with the ever increasing requirements due to a higher number of demands and their complexity. Those demands are summarized in the requirements list. Classic design methodologies do not directly relate a system or part of it to the requirements list. As a result, by failing to ensure that the qualification of requirements is traceable, when a problem arises, design engineers lose the ability to track back and quickly locate one or more not fulfilled requirements. Our work shows how requirements traceability for mechatronic design can be achieved by employing a Model-Based Systems Engineering (MBSE) methodology and associated tool, Systems Modeling Language (SysML). SysML is a general purpose multiview language for systems modeling capable of linking requirements to the system elements by capturing textual requirements and placing them in the design models. Furthermore, SysML can be coupled to other tools including spreadsheets and design and simulation software, such as Matlab or Modelica, enabling requirements verification. An electro-mechanical actuator (EMA) -an airplane surface actuatoris chosen as a mechatronic system example. By joining SysML and Matlab/Simulink, it was possible to trace requirements for the EMA mechatronic design and hence verify compliance with requirements throughout the design.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"25 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":"114911448","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
Systematic Review of Prosthetic Socket Fabrication using 3D printing 使用3D打印制造假体插座的系统综述
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191506
Kimthu T. Nguyen, L. Benabou, S. Alfayad
{"title":"Systematic Review of Prosthetic Socket Fabrication using 3D printing","authors":"Kimthu T. Nguyen, L. Benabou, S. Alfayad","doi":"10.1145/3191477.3191506","DOIUrl":"https://doi.org/10.1145/3191477.3191506","url":null,"abstract":"This study reviews the progress of using 3D printing for prosthetic socket in the past 10 years. The objective is to summarize the main techniques and results in prosthetic socket fabrication using 3D printing. Method: ScienceDirect, PubMed, Google Scholar were explored to find articles related to the subject. Findings: Based on the selection criteria, the 10 most significant articles were retained. Then, the advantages of the 3D printing-based fabrication method were listed, as well as its limitations and some future challenges.","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":"130365502","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: 15
Collision Driven Multi Scenario Approach for Human Collaboration with Industrial Robot 人类与工业机器人协作的碰撞驱动多场景方法
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191499
S. Mikhel, Dmitry Popov, A. Klimchik
{"title":"Collision Driven Multi Scenario Approach for Human Collaboration with Industrial Robot","authors":"S. Mikhel, Dmitry Popov, A. Klimchik","doi":"10.1145/3191477.3191499","DOIUrl":"https://doi.org/10.1145/3191477.3191499","url":null,"abstract":"This study focuses on the problem of robot interaction with a dynamically changing environment. Particular attention is paid to the problem of human collaboration with industrial robot in a shared common workspace. The paper identifies collisions and provides algorithms for different scenarios of obstacle avoidance, considering the nature of interaction and contact point location. The developed mathematical framework is based on the neural network classification and finite state machine, followed by appropriate collision reaction/avoidance algorithms. The advantages of the developed approach were demonstrated by an experimental study dealing with Kuka LBR IIWA 14 robot interaction with a human and dynamic environment.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"89 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":"126482985","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
Disturbance Observer Based Sliding Mode Control For Flexible Joint Manipulator Systems 基于扰动观测器的柔性关节机械臂系统滑模控制
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191481
Dao Phuong Nam, Dongkui Tan, Pham Thanh Loc, V. Dung
{"title":"Disturbance Observer Based Sliding Mode Control For Flexible Joint Manipulator Systems","authors":"Dao Phuong Nam, Dongkui Tan, Pham Thanh Loc, V. Dung","doi":"10.1145/3191477.3191481","DOIUrl":"https://doi.org/10.1145/3191477.3191481","url":null,"abstract":"This paper presents a external disturbance observer (DO) for flexible joint single link manipulator. Besides, the arbitrary small attraction region is obtained by using the suitable parameters. The main result of this paper is proposed based on differential equation analysis. Moreover, several exploration in depending of parameters are given out. Simulation results pointed out the good behaviour of the proposed methods.","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":"133081779","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
Gait Planning of one Amphibious Robot with Six Arc Legs 一种六弧腿两栖机器人的步态规划
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191492
Wenbo Duan, Junzhan Hou, Hu Liu, Bo Hu, Weiliang Yan, Hongjian Duan
{"title":"Gait Planning of one Amphibious Robot with Six Arc Legs","authors":"Wenbo Duan, Junzhan Hou, Hu Liu, Bo Hu, Weiliang Yan, Hongjian Duan","doi":"10.1145/3191477.3191492","DOIUrl":"https://doi.org/10.1145/3191477.3191492","url":null,"abstract":"Amphibious robots are widely studied due to its adaptation to different environments. The tripod gait and tetrapod gait are important patterns for the amphibious robot and usually works on smooth surface. This paper mainly focuses on the simulation of the tripod gait and tetrapod gait patterns of one amphibious robot with six arc legs. What's more, the effects of different support phases on the motion of the robot are analyzed by using the virtual prototype software ADAMS. The presented analysis and simulation method here will benefit the design and the promotion of the amphibious robot.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"137 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":"122135184","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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