2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)最新文献_第3页

Stabilization of a Two-DOF Spherical Parallel Robot via a Novel Adaptive Approach 基于自适应方法的两自由度球面并联机器人镇定

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657566

Saeed Ansari-Rad, Mojtaba Zarei, Mehran Ghafarian Tamizi, Saeid Mohammadi Nejati, M. T. Masouleh, A. Kalhor

{"title":"Stabilization of a Two-DOF Spherical Parallel Robot via a Novel Adaptive Approach","authors":"Saeed Ansari-Rad, Mojtaba Zarei, Mehran Ghafarian Tamizi, Saeid Mohammadi Nejati, M. T. Masouleh, A. Kalhor","doi":"10.1109/ICROM.2018.8657566","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657566","url":null,"abstract":"This paper proposes a control strategy for using a 2-Degree-of-Freedom (DOF) parallel robot as a camera stabilizer. To configure the stabilizer, a gyro sensor is mounted on the end-effector of the robot and the data is transmitted to a PC in order to permanently command two servo motors to the end of compensating the external disturbances. A novel adaptive approach is utilized to stabilize the end-effector of the 2-DOF Spherical Parallel Robot under study, where an adaptive parameter should be adjusted in order to damp disturbances, exponentially. To assess the method, first in SimMechanics, operation of the 2-DOF robot with the adaptive approach is simulated and examined. In addition, a well-known and robust decay algorithm is employed to show the superiority of the proposed method. Then, by implementing on the real structure, the performance of the adaptive controller is validated. The proposed method leads to better performance in compare with the decay algorithm, from view point of quantitative indices of tracking, stabilization and smoothness.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"72 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133190206","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: 8

Target Localization in NLOS Condition Using Beacons to Determine Reflector Orientation NLOS条件下利用信标确定反射器方向的目标定位

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657609

M. Fares, H. Moradi, M. Shahabadi, S. Nasiri

{"title":"Target Localization in NLOS Condition Using Beacons to Determine Reflector Orientation","authors":"M. Fares, H. Moradi, M. Shahabadi, S. Nasiri","doi":"10.1109/ICROM.2018.8657609","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657609","url":null,"abstract":"Localization of a stationary target in Non-Line Of Sight (NLOS) condition, in which the target signal is received after a single reflection from a reflector, is a challenging problem. In this paper, we address this problem when the reflector position is available. To solve this localization problem, a new Beacon-Based Localization approach (BBL) is introduced in which a number of known beacons are used to localize the target and the reflector at the same time. We further specify the minimum number of beacons needed to localize a target in a given situation. Furthermore, we propose a procedure to determine the best location to place beacons in order to improve the localization process. To test the proposed approach, a mirror space is considered in which the reflectors are mirrors with no signal attenuation, i.e., the reflection is perfect. The receiver was a camera and the distance is calculated using the size constancy concept. Furthermore, the angle of arrival was calculated based on the orientation of the camera with respect to a global frame. The problem is solved for large reflectors first, and then for finite reflectors. The simulation results show the validity of the proposed approaches","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"96 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113989941","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

Laguerre based model predictive control for trajectory tracking of nonholonomic mobile robots 基于Laguerre的非完整移动机器人轨迹跟踪模型预测控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657544

M. Ettefagh, M. Naraghi, F. Towhidkhah, H. Izi

引用次数: 3

From passive dynamic walking to ankle push-off actuation: An MSC ADAMS approach to design 从被动动态行走到踝关节蹬离驱动:MSC ADAMS设计方法

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657640

A. Mizani, Vahid Ehteshami Bejnordi, Ali Tehrani Safa, M. Naraghi

{"title":"From passive dynamic walking to ankle push-off actuation: An MSC ADAMS approach to design","authors":"A. Mizani, Vahid Ehteshami Bejnordi, Ali Tehrani Safa, M. Naraghi","doi":"10.1109/ICROM.2018.8657640","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657640","url":null,"abstract":"The main focus of this paper is on how the biped robot has a stable passive gait cycle as well as going through a stable journey on a level ground merely with push-off actuation. During recent years humanoids have been in the center of attention due to several reasons some of which are: compactness of the structure, low energy consumption, humanoid behavior and last but not least being of great use in medical field. In this paper, equations of motion regarding the passive phase as well as push-off are simulated in MATLAB software. For the next step, a comparison between these two stable gait cycles is made so as to figure out the difference between energy injected to the system by push-off and the one provided by the gravity. Then it is studied from the robustness point of view and it continues with a touch upon period doubling and bifurcation. Results from MATLAB are followed and validated by MSC ADAMS software in both fields and are compared to one another with the aim of finding a rational relationship between these two gait cycles. In the end, the robot is constructed and tested on a slope successfully. Eventually by having the similarity made between passive gait cycle and the one with push-off, having a stable gait cycle on a level ground with push-off actuation is possible.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"478 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115875851","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

Autonomous Navigation of Nanomachines through Biological Motion Planning 基于生物运动规划的纳米机器自主导航

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657626

Nasibeh Rady Raz, M. Akbarzadeh-T.

{"title":"Autonomous Navigation of Nanomachines through Biological Motion Planning","authors":"Nasibeh Rady Raz, M. Akbarzadeh-T.","doi":"10.1109/ICROM.2018.8657626","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657626","url":null,"abstract":"Navigation is the process of conscious movement based on motion planning. Brain representations, investigation of those representation to predict environmental reactions, choices optimization and execution of the selected actions are several main components of Biological Motion Planning (BMP). Evidence shows that interaction and learning have an influence on BMP. In this paper considering the cellular delivery process, we use the autonomous navigation among a swarm of nanomachines. Here, cancer Targeted Drug Delivery (TDD) is considered as the case study for the proposed method. The cancer place is defined where the concentration of Vascular Endothelium Growth Factor (VEGF) is high. To do this, we first form the swarm, and then using the two types of potential functions, the swarm is guided toward cancer. Two types of potential functions as two objectives include healthy cells which should be avoided and cancer cells which should be approached. By defining a multi-objective function, we consider both types of objectives in the proposed navigation. As soon as the swarm reaches the cancer site, they start their collective therapies. The result shows the remedy of the approach in less drug usage by the healthy cells and proper drug uptake by cancer cells.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"104 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123504195","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

Force Analysis of a Spherical Single-wheeled Robot 球形单轮机器人的受力分析

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657577

Fateme Zarei, S. Moosavian, A. Najafi

{"title":"Force Analysis of a Spherical Single-wheeled Robot","authors":"Fateme Zarei, S. Moosavian, A. Najafi","doi":"10.1109/ICROM.2018.8657577","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657577","url":null,"abstract":"The spherical robot (Ballbot) is a single-wheeled robot that uses a spherical ball to move on a flat surface. So, the Ballbot is designed so that is balanced on a spherical wheel, and since the robot has only one contact point with the ground, it is considered as omnidirectional. The robot is stabilized through the ball movements, which works such as an inverted pendulum. The Ballbot is suited to interact with the human due to the appropriate height and dimension. The purpose of this article is to improve the design of a spherical single-wheeled robot by force analysis. The stability of the robot on the ball is one of the most important challenges for this robot. In this article, after discussing introduction on wheeled robots, the types of spherical single-wheeled robots are presented. Specifications and design tips for the spherical single-wheeled robots are considered and the dynamic equations of the robot are presented. Therefore, various parts of the robot are investigated as a mechatronic system including electronics, mechanics and controls. In order to control the robot, the controller has been implemented. After design review, simulation of a spherical single-wheeled spherical robot and its force analysis in MSC ADAMS and Matlab software are presented. By examining the contact forces in the simulator, design details have been investigated. Finally, stabilization of the presented Ballbot is discussed.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"344 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116532219","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

ShrewdShoe, a smart pressure sensitive wearable platform ShrewdShoe，智能压敏可穿戴平台

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657559

Amir Mehdi Shayan, Arman Khazaei, Amin Hamed, Arsalan Amralizadeh, M. T. Masouleh

引用次数: 7

Control a mobile robot in Social environments by considering human as a moving obstacle 将人类视为移动的障碍物，控制社会环境中的移动机器人

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657641

S. Tanha, S. F. Dehkordi, A. H. Korayem

引用次数: 4

Three-axis Control of an Under-actuated Satellite Based on the Principles of Artificial Intelligence Using 2 Gimbal Actuators 基于人工智能原理的欠驱动卫星二框架三轴控制

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657563

A. Kasiri, F. F. Saberi, Mahdi Mortazavi Bak

{"title":"Three-axis Control of an Under-actuated Satellite Based on the Principles of Artificial Intelligence Using 2 Gimbal Actuators","authors":"A. Kasiri, F. F. Saberi, Mahdi Mortazavi Bak","doi":"10.1109/ICROM.2018.8657563","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657563","url":null,"abstract":"In this paper, we design an intelligent active attitude control subsystem (ACS) including 2 reaction wheels (RW) to achieve 3-axis attitude control of an under-actuated satellite. Since the position and configuration of the control actuators plays an important role in the performance and behavior of the attitude control system, in this paper, we used artificial intelligence as a loop of the main control algorithm to calculate the optimal RWs configuration with respect to the user’s command. Then the robotic joints are responsible to place the actuators in new optimal configuration (gimbal RW). So this variable configuration ACS provides maximum RWs momentum envelope coverage. Authors used the backstepping method as the main controller due to its robustness against uncertainties. Advantages of this method in comparison to the other Studies are its simultaneous and fast time response, negligible power consumption and latency in RW saturation. Analysis of the simulation results shows that the presented approach has an acceptable pointing accuracy of the attitude time response.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130525955","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

Two PID-Based Controllers for a tethered Segway on Dome Shaped Structures 穹顶结构系留赛格威的两个基于pid的控制器

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657643

M. H. Salehpour, H. Taghirad, H. Moradi

引用次数: 4