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2008 IEEE Conference on Robotics, Automation and Mechatronics最新文献

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Experimental design and performance of underwater vehicle based on capacity of voyage 基于航行能力的水下航行器试验设计与性能研究
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690882
Jianhong Liang, Li Wen, Yuxiao Guo
{"title":"Experimental design and performance of underwater vehicle based on capacity of voyage","authors":"Jianhong Liang, Li Wen, Yuxiao Guo","doi":"10.1109/RAMECH.2008.4690882","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690882","url":null,"abstract":"The SPC-3 UUV robofish prototype is an experimental vehicle especially designed to improve efficiency of thrust and capacity of voyage based on the SPC-2 UUV robofish by Beijing University of Aeronautics and Astronautics. According to the record of power acquisition computer and camera which is used to measure the power and velocity of SPC-3 UUV in the still water, the speed-frequency and power-frequency curve were bulit. According to the estimation of capacity of voyage, the voyage time and voyage on condition of different frequency of flapping foils were calculated, the propulsion frequency could be selected base on the cruising velocity as well as voyage capacity. Experimental result of the long voyage performance in Bei Daihe showed that SPC-3 UUV achieved 22.761 kilometers, and its voyage time was 6.25 h, and obtain a average cruising speed as 1.03 m/s using the optimal frequency ranging from 1.5~1.6Hz of the flapping foils.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126617523","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
An Analysis of Stability of Systems with Impulse Effects: Application to Biped Robots 具有脉冲效应的系统稳定性分析:在双足机器人中的应用
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681416
Limei Liu, Yantao Tian, Peijie Zhang, Zhenze Liu
{"title":"An Analysis of Stability of Systems with Impulse Effects: Application to Biped Robots","authors":"Limei Liu, Yantao Tian, Peijie Zhang, Zhenze Liu","doi":"10.1109/RAMECH.2008.4681416","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681416","url":null,"abstract":"The approximate Jacobian matrix of the Poincare return map at the fixed point is presented for the nonlinear system with impulse effects. And the sufficient condition to the existence of this approximate Jacobian matrix is given with the disturbance theory and linearization method. Since this approximate expression depends only on the configuration of the system with impulse effects, then the uniqueness of this approximate expression can be guaranteed and this approximate expression can be obtained precisely. In addition, this approximate Jacobian matrix can be used as a tool to study the asymptotical stability of the system with impulse effects. Since the biped robot gaits can be described by the nonlinear system with impulse effects, then the stability of the biped robot walking cycle can be studied with this tool. In order to study the stability, this approximate Jacobian matrix is applied to the compass-like passive biped robot gaits. It is shown that the approximate Jacobian matrix proposed in this paper is as useful as the ones proposed in the numerical methods. In the end this result is confirmed by simulations.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127522793","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
A Novel 3-DOF HIP Exoskeleton for Kinematically Establishing Animal Model of Avascular Necrosis of the Femoral Head 新型3-DOF髋关节外骨骼用于建立股骨头缺血性坏死动物模型
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681436
Zhang-yin Yu, Zhang Jiafan, Dong Yi-ming, Yang Can-jun, Chen Ying, L. Jianhua, Wu Tao
{"title":"A Novel 3-DOF HIP Exoskeleton for Kinematically Establishing Animal Model of Avascular Necrosis of the Femoral Head","authors":"Zhang-yin Yu, Zhang Jiafan, Dong Yi-ming, Yang Can-jun, Chen Ying, L. Jianhua, Wu Tao","doi":"10.1109/RAMECH.2008.4681436","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681436","url":null,"abstract":"This paper outlines a detailed description of the design on a 3-DOF hip robotic device for kinematically establishing animal model of avascular necrosis (AVN) of the femoral head. In order to realize the hip extension/flexion and abduction/adduction movements of rabbit subjects, a novel 2-DOF hip motion apparatus based on a pair of cardan joints is investigated. 2 electric grounded motors are used to drive rabbits passively in terms of predefined trajectories repeatedly with an additional periodical impact loading on the femoral head during motions. It is ideal to simulate usual forceful and repeated actions in sports, such as gymnastics and acrobatics, and initiated a new way to establish animal femoral head AVN models by means of kinematically simulating the real motion procedure rather than traditional medical or physiological operation method. With sets of experiments, the characterization of the exoskeleton system is discussed.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116086804","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
Modified Dislocated Feedback Synchronization of Unified Chaotic System 统一混沌系统的改进错位反馈同步
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681496
Xia Meng, Yongguang Yu
{"title":"Modified Dislocated Feedback Synchronization of Unified Chaotic System","authors":"Xia Meng, Yongguang Yu","doi":"10.1109/RAMECH.2008.4681496","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681496","url":null,"abstract":"An modified dislocated feedback method is proposed to acquire the synchronization of the whole unified chaotic system. This method is based on the Lyapunov stability theory, and overcome the limitation of the original dislocated feedback method. Numerical simulations are also provided to show the effectiveness of the method.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"258 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122665833","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
Adaptive Control of an Aerial Robot using Lyapunov Design 基于Lyapunov设计的航空机器人自适应控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681513
P. Zarafshan, S. Moosavian, M. Bahrami
{"title":"Adaptive Control of an Aerial Robot using Lyapunov Design","authors":"P. Zarafshan, S. Moosavian, M. Bahrami","doi":"10.1109/RAMECH.2008.4681513","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681513","url":null,"abstract":"In this article, based on feedback linearization using Lyapunov design method, an adaptive controller is proposed for an Aerial Robot or unmanned aerial vehicle (UAV). After introducing a nonlinear dynamics model of the system in case of longitudinal equations, comparing controllers are designed to manage the system performance during various maneuvers. Also, stability analysis for the designed adaptation law is studied and discussed. To evaluate the performance of designed controllers for a given system, a comprehensive simulation program is developed. One of the most important results of this study is that tracking errors for the two state variables exponentially converge to zero, even in the presence of parameters uncertainty. Therefore, it is shown that the proposed adaptive controller is able to perform perfect path tracking maneuvers.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"40 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122923171","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
VT Position Code Communication Technology and Its Implementation VT位置码通信技术及其实现
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681351
Shiying Zhou, G.H. Qin, Yubo Jin
{"title":"VT Position Code Communication Technology and Its Implementation","authors":"Shiying Zhou, G.H. Qin, Yubo Jin","doi":"10.1109/RAMECH.2008.4681351","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681351","url":null,"abstract":"A kind of new electronic communication technology is presented in this paper. The technology quantifies the time axis and the voltage axis synchronously, uses the quantified time dot as the address of the communication, and realizes the transmission of the multi-system data via transmitting the multi-steps voltage quantification. This new technology can solve the bottleneck problem of the speed, circuit and electromagnetism in the electronic communication, change the binary system coding mode and communication connection form of the electronic device, debase the complexity of the devices connection, enhance the rate of the processing and the transmission, reduce the transmission quantity of the redundant information, simplify the transformation between the difference protocols. The single-lined system automobile controller based on the second-step voltage quantification method of this technology has been verified in the actual application, and obtained the invocation patent. The experimental results approve the validity and the robustness of the technology.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"35 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122602371","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
Delay-Dependent Robust Reliable Guaranteed Cost Control for Nonlinear Systems with Time-Varying State Delays 时变状态时滞非线性系统的时滞相关鲁棒可靠保成本控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681405
Nan Xie, Ping Chen, Lei Zhao, Bin Xia
{"title":"Delay-Dependent Robust Reliable Guaranteed Cost Control for Nonlinear Systems with Time-Varying State Delays","authors":"Nan Xie, Ping Chen, Lei Zhao, Bin Xia","doi":"10.1109/RAMECH.2008.4681405","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681405","url":null,"abstract":"This paper concerns the reliable guaranteed cost control problem of nonlinear systems with time-varying state delays and actuator failures for a given quadratic cost function. The problem is to design a delay-dependent reliable guaranteed cost state feedback control law which can tolerate actuator failures, such that the closed-loop cost function value is not more than a specified upper bound. Based on the linear matrix inequality (LMI) approach, a sufficient condition for the existence of reliable guaranteed cost controllers is derived. Furthermore, a convex optimization problem with LMI constraints is formulated to design the optimal reliable guaranteed cost controller which minimizes the upper bound of the closed-loop system cost. A numerical example is given to illustrate the proposed method.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117275731","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
The Ground-based Validation Technology of Teleoperation for Space Robot 空间机器人遥操作地基验证技术
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681426
Xueqian Wang, Bin Liang, Cheng Li, Wenfu Xu
{"title":"The Ground-based Validation Technology of Teleoperation for Space Robot","authors":"Xueqian Wang, Bin Liang, Cheng Li, Wenfu Xu","doi":"10.1109/RAMECH.2008.4681426","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681426","url":null,"abstract":"This paper addresses a ground-based validation subsystem which verifies the functions and performance of the teleoperation system for space robot. The subsystem is comprised of three modules: the physics verification module, the onboard verification module and the communication simulator module. In the physics verification module, a hybrid experiment concept which combines the mathematical model with the physical model is used. The key issues of the physics verification module are dynamic emulation and kinematic equivalence, in which the behaviors of the space robotic system are calculated by its dynamic equations. The motion of its end-effector and the space target is realized by two industrial robots. The concept of hardware-in-the-loop simulation is used in the onboard verification module to verify the onboard computer's processing ability. The communication simulator can provide fidelity communication conditions which consist of time delays and communication bandwidth. Lastly, a teleoperation system is set up, and many experiments have been done on the system. The experiments verified the effectiveness of the work in the paper.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129698851","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
Sliding Mode Control for Multi-robot Formation 多机器人编队的滑模控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681337
Q. Liao, Chaoli Wang, Y. Mei
{"title":"Sliding Mode Control for Multi-robot Formation","authors":"Q. Liao, Chaoli Wang, Y. Mei","doi":"10.1109/RAMECH.2008.4681337","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681337","url":null,"abstract":"This paper investigated the formation control of multi-mobile robots under the environment without obstacles, the feedback linearization is used for the robot, a nonlinear sliding mode controller is proposed in accordance with multi-robot system to coordinate a group of nonholonomic mobile robots so that a desired formation can be achieved. A prescribed trajectory is followed by using sliding mode control approaches, We prove theoretically that under certain reasonable assumptions the formation is asymptotically stable, that is, the proposed sliding mode controller can asymptotically stabilize the formation. The simulation results verify the effectiveness of the control laws.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126677570","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: 7
Study on Measurement System of Underwater Autonomous Robot 水下自主机器人测量系统研究
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681454
Qingmei Yang, Jianmin Sun, Yanxia Liu
{"title":"Study on Measurement System of Underwater Autonomous Robot","authors":"Qingmei Yang, Jianmin Sun, Yanxia Liu","doi":"10.1109/RAMECH.2008.4681454","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681454","url":null,"abstract":"Measure system is important part for an autonomous mobile robot. Move-in-mud robot is a new kind of autonomous underwater robot, which is used to dig hole in the mud. Measure system of move-in-mud robot is designed in the paper and measure principle of move-in-mud robot is analysed. Data fusion methods combine multi-sensor information to obtain the uniform description or the understanding to the measured object according to a certain criterion. Kalman filter is chosen as the data fusion method of the measure system to improve the accuracy of measure system. The depth error with fusion is smaller than the direct measure and indirect measure. The simulation results indicate that fusion improves the accuracy of the robot depth obviously.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127005569","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
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