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Simulation Study on the Body Side-Sway Characteristic for Rigid Robot Fish 刚性机器鱼身体侧摆特性仿真研究
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681332
Dan Xia, Weishan Chen, Jun-kao Liu, Luhui Han
{"title":"Simulation Study on the Body Side-Sway Characteristic for Rigid Robot Fish","authors":"Dan Xia, Weishan Chen, Jun-kao Liu, Luhui Han","doi":"10.1109/RAMECH.2008.4681332","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681332","url":null,"abstract":"This paper reveals a new phenomenon of the body side-sway for rigid robot fish and proposes three effective restraining methods. The body side-sway problem is produced by the lateral component of hydrodynamic force and inertial force, while influenced by mass distribution of fish body and oscillating rules of caudal fin. Considering the body side-sway, a virtual prototype for two-joint robot fish, which is the simplified form of multi-joint robot fish, is established in MSC-ADAMSreg to conduct the simulation. Simulation results indicate that the body side-sway can reduce the amplitude of tail peduncle and change the attack angle of caudal fin, and then affect the thrust and the propulsive efficiency. To inhibit the harmful body side-sway which also contributes to the energy loss, we last summarize three restraining methods: attaching dorsal fin and pelvic fin, using the vibration absorber and building two parallel tail mechanisms.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"70 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":"115386866","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
Coordination in CPG and its Application on Bipedal Walking CPG协调及其在两足行走中的应用
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681412
Weiwei Huang, C. Chew, G. Hong
{"title":"Coordination in CPG and its Application on Bipedal Walking","authors":"Weiwei Huang, C. Chew, G. Hong","doi":"10.1109/RAMECH.2008.4681412","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681412","url":null,"abstract":"Research of bipedal walking has been motivated by its great flexible in rough terrain walking, as well as its benefits to prosthesis development. This paper aims to achieve coordination of central pattern generator (CPG) and asymptotically stable walking behavior. CPG is always referred as several oscillators with coupled mutual inhibition. In this paper, the oscillator model proposed by Matsuoka was used. We use output difference between two oscillators as the feedback to adjust the output of the target oscillator. Further exploration achieves to coordinate multiple oscillators with different frequencies. To verify the method, we demonstrate a 3D robust walking controlled by a simple CPG structure with several oscillators.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"34 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":"123362811","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
Research on Resource Access Control Protocol Based on Layered Scheduling Algorithm 基于分层调度算法的资源访问控制协议研究
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681349
Xibo Wang, Fenmei Wang, Ge Yu
{"title":"Research on Resource Access Control Protocol Based on Layered Scheduling Algorithm","authors":"Xibo Wang, Fenmei Wang, Ge Yu","doi":"10.1109/RAMECH.2008.4681349","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681349","url":null,"abstract":"Complicated real-time application needs operating system providing layered scheduling mechanism to realize two layers scheduling for disjoint tasks subset. For satisfying the running predictability of real-time task under circumstance of layered scheduling, operating system should have corresponding resource access control protocol to avoid infinite priority inversion and deadlock phenomenon while multi-task sharing resource. Aiming at the problems, a new resource access control protocol based on layered scheduling algorithm is proposed. The protocol expands and redefines the priority inheritance protocol and the priority ceiling protocol, distributes resource control lock for each sub-modules, cross-sub-module resource contention is prohibited. Inside a sub-module, priority of task and priority of resource are set respectively, and priority ceiling protocol is realized by dual priority control approach. This protocol controls layered multi-task accessing critical resource effectively and reasonably, meet the demand of schedulable constraint condition for real-time task in layered sub-module situation, improves real-time performance of layered scheduling algorithm. Theoretical analysis and experimental results indicate that layered resource access control protocol has the ability of inhibiting priority inversion and avoiding deadlock phenomenon effectively, enhanced resource access control ability while supporting real-time application.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"77 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":"121076762","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
Analysis of Contact forces for Forging Manipulator Grippers 锻造机械手夹持器接触力分析
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681456
Qunming Li, D. Gao, H. Deng
{"title":"Analysis of Contact forces for Forging Manipulator Grippers","authors":"Qunming Li, D. Gao, H. Deng","doi":"10.1109/RAMECH.2008.4681456","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681456","url":null,"abstract":"Whether the gripper of a forging manipulator can achieve stable gripping depends a lot on the position and constraints of contact points. Therefore the analysis of contact status between the gripper and work piece is very important for the evaluation of the capability and reliability of the forging manipulator. In this paper, the contact forces of static stable gripping are analyzed by space decomposition method for a forging manipulator loading work-piece of 250 kg. The dynamic simulations are also used to analyze the contact status of gripping. The improvements of stable gripping are then given. The above analysis provides a good foundation for the optimization of the structure and the design of the control system of the forging manipulator.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"41 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":"124306268","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
Web-based Local Fuzzy Control of Mobile Manipulators 基于web的移动机械臂局部模糊控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681462
W. Ge, X. Li, Chuanlei Zhang, Xiaojie Sun
{"title":"Web-based Local Fuzzy Control of Mobile Manipulators","authors":"W. Ge, X. Li, Chuanlei Zhang, Xiaojie Sun","doi":"10.1109/RAMECH.2008.4681462","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681462","url":null,"abstract":"With the development of Internet technology, the Web-based teleoperation of mobile manipulators becomes possible. Fuzzy control is to control an object according to the experts' experiences, and its design does not depend on the mathematical model of the control object. It is suitable for the control of the mobile manipulator, which is a complex system. This paper designed a fuzzy control system of the mobile manipulator, and then established a web-based remote control platform by J2EE to achieve the local fuzzy control based on the Internet technique.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"61 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":"126291457","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
Modelling and Identification of STAUBLI RX-60 Robot STAUBLI RX-60机器人建模与辨识
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681356
O. Karahan, Z. Bingul
{"title":"Modelling and Identification of STAUBLI RX-60 Robot","authors":"O. Karahan, Z. Bingul","doi":"10.1109/RAMECH.2008.4681356","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681356","url":null,"abstract":"This paper deals with the modelling and identification of an industrial Staubli RX-60 robot. A Lagrange-Euler method is used to derive the dynamic equations of the robot. The dynamic model introduced here was obtained with the distinct parameters. In this paper, a least squares estimation for determining parameters of a dynamic Staubli RX-60 robot model based on experiments was used. The robot was moved with respect to many experiments formed. At the end of the movement, data such as the position and velocity was taken from the robot. Moreover, the acceleration was taken from SIMI Motion with a three cameras system and torque was measured from the loadcell (FTC-L50) sensor during the robot experiments. The inertial parameters of the robot were estimated according to these data. The estimation values were verified experimentally. The experimental results show that the estimated inertial parameters predict robot dynamics well. The errors of the torque estimation were also computed and they are between 0.0171 Nm and 0.1136 Nm.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"99 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":"129552020","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: 13
Multiple Mobile Robots Map Building Based on DSmT 基于DSmT的多移动机器人地图构建
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681365
Peng Li, Xinhan Huang, Min Wang, Xiangjin Zeng
{"title":"Multiple Mobile Robots Map Building Based on DSmT","authors":"Peng Li, Xinhan Huang, Min Wang, Xiangjin Zeng","doi":"10.1109/RAMECH.2008.4681365","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681365","url":null,"abstract":"In this paper, a new multi-robot system framework is introduced to solve the problem of multi-robot map building. Compared with the classical architectures introduced in the literature, this kind of framework enhances overall system performance, especially in reducing calculations and communications, improving real-time performance. Meanwhile a general basic belief assignment function (gbbaf) is constructed to deal with the uncertain and imprecise information obtained by sonar sensors with the application of new information fusion method DSmT (dezert and smarandache theory) in the system and consideration of characteristics of sonar sensors. At last, Pioneer II mobile robots are used to carry out experiments of map building for both single-robot system and multi-robot system. The comparison of created ichnography with the real map testified the validity of DSmT and efficiency of multi-robot system for fusing imprecise information and map building proposed by this research.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 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":"130572497","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
Design and Development PIC-Based Autonomous Robot 基于pic的自主机器人设计与开发
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681422
Moh Kee Gow, ZAINAH BINTI MD. ZAIN, R. H. Salimin
{"title":"Design and Development PIC-Based Autonomous Robot","authors":"Moh Kee Gow, ZAINAH BINTI MD. ZAIN, R. H. Salimin","doi":"10.1109/RAMECH.2008.4681422","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681422","url":null,"abstract":"Recently, mini robots in the form of pets, cleaners and others are available in market. Robots are utilized for many applications to assist human-being. The purpose of this project is to develop an autonomous robot that can move on itself without continuous human guidance. This autonomous robot is overall in two parts: Electronic parts and mechanical parts. Electronic parts are the controller board, infrared sensors and ISD 2560 ChipCoder. The controller board consists of microcontroller PIC 16F877A, power supply unit and motor driver ST L293D. The mechanical parts are the gear-box with DC motors and the case of the robot. When the robot is ON, it will sound \"autonomous robot ON\" and move forward. When it senses obstacle in front, it will sound \"Obstacle at front, reversing\" and reverse then turn right before it continues to move forward. When it senses obstacle at right, it will sound \"Obstacle at right, turning left\" then turn left and when it senses obstacle at left, it will sound \"Obstacle at left, turning right\" then turn right before it continues to move forward. As a result, this robot is useful as a guide for blind people as it is also economic.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"6 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":"130838724","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
Electro-Mechanical Heterogeneous Simulation of the Complex NC Machine Tool from Gear Milling and Hobbing 铣刀滚刀复合数控机床的机电非均匀仿真
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681350
Xiaodiao Huang, Chunjian Yu
{"title":"Electro-Mechanical Heterogeneous Simulation of the Complex NC Machine Tool from Gear Milling and Hobbing","authors":"Xiaodiao Huang, Chunjian Yu","doi":"10.1109/RAMECH.2008.4681350","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681350","url":null,"abstract":"Electro-mechanical heterogeneous modeling and simulation technique, which is applied to NC machine tool, is one of the difficulties and important approaches to analyze dynamic performances. Based on mathematical model of servo motor with load, the horizontal feed system of the complex NC machine tool from gear milling and hobbing was taken as a research object to set up mechanical dynamic model by ADAMS/View and establish control model in MATLAB/Simulation. The electro-mechanical heterogeneous model, which is made up of the mechanical dynamic model and the control model by ADAMS/Controls, was simulated in MATLAB7.0. The simulating results show the validity of the dual closed-loop control project composed of speed loop and position loop. Furthermore, the control moment characteristic of the AC servo motor with load was analyzed, which offers a theoretical basis for drive design as well as electro-mechanical parameter matching of the NC machine tool.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"10 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":"121831764","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
Fault Diagnosis for Wireless Sensor Network's Node Based on Hamming Neural Network and Rough Set 基于Hamming神经网络和粗糙集的无线传感器网络节点故障诊断
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681504
Lin Lei, Houjun Wang, Chuanhua Dai
{"title":"Fault Diagnosis for Wireless Sensor Network's Node Based on Hamming Neural Network and Rough Set","authors":"Lin Lei, Houjun Wang, Chuanhua Dai","doi":"10.1109/RAMECH.2008.4681504","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681504","url":null,"abstract":"To accurately diagnose node fault in wireless sensor network (WSN) can improve long-distance service of nodes in WSN, assure reliability of information transfer and prolong lifetime of WSN. In this paper, a novel method of fault diagnosis for node of WSN was brought forward. First, attribute reduction for decision-making of fault diagnosis could be founded based discernibility matrix in rough set theory. Furthermore, a set of model for node's fault diagnosis in WSN could be built through classification algorithm based on attribute matching. Finally, a set of method for fault classification was founded by hamming network. The result of simulation shows that characteristics of this method are as follows: high veracity of diagnosis, a little expenditure of communication, low energy consumption and strong robustness.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"18 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":"127474512","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
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