2013 IEEE International Conference on Mechatronics and Automation最新文献_第9页

An intelligent object manipulation framework for industrial tasks 用于工业任务的智能对象操作框架

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618173

Artur Saudabayev, Yerbolat Khassanov, A. Shintemirov, H. A. Varol

引用次数: 6

Design and control of dual-arm robot for cell manufacturing process 电池制造过程双臂机器人的设计与控制

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618121

Hyunmin Do, Chanhun Park, Taeyong Choi, J. Kyung

引用次数: 13

Rapidly-exploring random tree based memory efficient motion planning 快速探索基于随机树的内存高效运动规划

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617944

Olzhas Adiyatov, H. A. Varol

引用次数: 88

A novel miniature modular wire inspection robot with multiple locomotion modes 一种新型多运动模式的微型模块化线材检测机器人

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618082

Jingyang Ye, Y. Guan, Zhiqiang Bi, Guoqi Zhao, Donghao Luo, Tianliang Liu

{"title":"A novel miniature modular wire inspection robot with multiple locomotion modes","authors":"Jingyang Ye, Y. Guan, Zhiqiang Bi, Guoqi Zhao, Donghao Luo, Tianliang Liu","doi":"10.1109/ICMA.2013.6618082","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618082","url":null,"abstract":"To carry out automatic line inspection, a novel modular miniature wire inspection robot with multiple locomotion modes, called MiniWirebot, has been developed. Developed by modular method, the robot consists of six joint modules, two grippers and three wheels assembled into four legs symmetrically. Two opposite 2-DoFs legs with gripper modules at the ends are utilized for climbing, while other two 1-DoF legs are equipped with wheel modules for rolling locomotion. With this configuration, MiniWirebot achieves outstanding mobilities including rolling on the floor or along a line, climbing poles or lines, transiting among the floor, poles and lines, and so on. In this paper, we present the development, show the prototype and illustrate the multiple locomotion of MiniWirebot. Inspiration and motivation of the development of the robotic system are introduced first, followed by the analysis of grasping force to ensure climbing safety and the inspection procedure. A series of experiments are conducted to verify the feasibility and effectiveness of the proposed miniature robot and the analysis.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"266 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116045961","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

A novel upper limb rehabilitation system with hand exoskeleton mechanism 一种具有手外骨骼机构的新型上肢康复系统

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617932

Wei Wei, Shuxiang Guo, Fan Zhang, Jian Guo, Yuehui Ji, Yunliang Wang

{"title":"A novel upper limb rehabilitation system with hand exoskeleton mechanism","authors":"Wei Wei, Shuxiang Guo, Fan Zhang, Jian Guo, Yuehui Ji, Yunliang Wang","doi":"10.1109/ICMA.2013.6617932","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617932","url":null,"abstract":"The exoskeleton robot is a comprehensive technology that is combination of sensing, control and information. Based on the upper limb exoskeleton rehabilitation device (ULERD), this paper describes a novel hand exoskeleton mechanism for using in rehabilitation field and aiming at helping varieties of hemiparalysis patients recover motor function of the whole-arm. This system consists of exoskeleton device, haptic device (PHANTOM Premium), motors, motor controllers and work station. And the hand exoskeleton mechanism is portable, wearable and adjustable for patients doing home rehabilitation training. Through using the finite element software (ANSYS), the main components of the hand exoskeleton are studied by force simulation analysis. And it shows that the exoskeleton device have the ability to resist deformation and sustain patients' fingers to implement rehabilitation training. Except that, a finger model is established to simulate the force status in different flexion angles of the proximal interphalangeal (PIP) joint and the metacarpaophalangeal (MCP) joint. From the analysis of the finger joint, the optimal joint activity range of device is presented that the PIP joint is less than 60° and the MCP joint is less than 75°. These experiments demonstrate this exoskeleton can provide a scientific rehabilitation method for the hemiparalysis patients and force influence of the exoskeleton device should be considered and reduced. In the future, with the mechanism structure improvement, this system will have a promising application prospect in the rehabilitation field.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116787784","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: 21

Motion intent recognition for control of a lower extremity assistive device (LEAD) 用于控制下肢辅助装置的运动意图识别(LEAD)

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618039

Bingquan Shen, Jinfu Li, Fengjun Bai, C. Chew

{"title":"Motion intent recognition for control of a lower extremity assistive device (LEAD)","authors":"Bingquan Shen, Jinfu Li, Fengjun Bai, C. Chew","doi":"10.1109/ICMA.2013.6618039","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618039","url":null,"abstract":"This paper presents a motion intent recognition method to control a wearable lower extremity assistive device (LEAD) intended to aid stroke patient during activities of daily living (ADL) or rehabilitation. The main goal is to identify user's intended motion based on sensor readings from the limb attached to the assistive device, so as to execute the right control actions to aid the user in his intended action effectively. A database of a healthy subject performing various motion tasks is collected. Subsequently, the features of the signals are extracted and Principal Component Analysis (PCA) is performed to reduce the number of dimensions. Using the transformed signal, a multi-class Support Vector Machine (SVM) with Radial Basis function (RBF) kernel is trained to classify the different motion patterns. A Nelder-Mead optimization algorithm is used select the appropriate parameters for each SVM. Test results shows that the SVM can correctly classify each motion pattern with an average accuracy rate of 95.8±4.1%. An offline classification result of a healthy subject performing a series of motion task while wearing the LEAD shows that the proposed method can effectively recognize different motion intent of the user.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115454161","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

Tip-over prevention for a holonomic omnidirectional mobile robot with ADWCs using SGCMG 基于SGCMG的ADWCs全向移动机器人侧翻预防

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618002

M. Safar, Keigo Watanabe, S. Maeyama, I. Nagai

引用次数: 4

3D exploration priority based flocking of UAVs 基于蜂群的无人机三维探索优先级

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618142

Abdullah Al Redwan Newaz, Geunho Lee, F. Pratama, N. Chong

引用次数: 1

Effects of roll dynamics for car stability control by laguerre functions 拉盖尔函数对横摇动力学对汽车稳定性控制的影响

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617940

F. Yakub, Y. Mori

引用次数: 3

A fast stereovision measurement algorithm based on SIFT keypoints for mobile robot 基于SIFT关键点的移动机器人立体视觉快速测量算法

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618179

Haitao Song, Han Xiao, Wenhao He, Feng Wen, Kui Yuan

{"title":"A fast stereovision measurement algorithm based on SIFT keypoints for mobile robot","authors":"Haitao Song, Han Xiao, Wenhao He, Feng Wen, Kui Yuan","doi":"10.1109/ICMA.2013.6618179","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618179","url":null,"abstract":"When a robot moves independently, it needs to localize itself and avoid obstacles. In order to enable the robot to obtain the depths of surrounding objects, a fast stereovision measurement algorithm based on SIFT keypoints is proposed and implemented on an embedded image processing board based on DSP and FPGA. The calculation of the keypoint descriptor is simplified by directly using the pixel values in the block neighborhood of a keypoint, resulting in an improvement in real-time performance. In order to guarantee the accuracy of searching for the matching points, a two-pass searching strategy is employed, that is, to choose a point in the left image and search the candidate point in the right image, then determine the correspondence by searching the matching point in the left image again. Moreover, for improving the precision of the measurement results, a quadratic polynomial is introduced to compensate the measurement results. Measurement results and comparison of different methods demonstrate the effectiveness of the proposed algorithm. In addition, the measurement system is applied to a mobile robot platform, and the experiment results validate that the system can satisfy the demand of robot applications.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127790316","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