Bahram Tarvirdizadeh, Sotirios Spanogianopoulos, K. Alipour
{"title":"Control of Nonholonomic Electrically-Driven Tractor-Trailer Wheeled Robots based on Adaptive Partial Linearization","authors":"Bahram Tarvirdizadeh, Sotirios Spanogianopoulos, K. Alipour","doi":"10.1109/ICROM.2018.8657509","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657509","url":null,"abstract":"Wheeled Mobile Robots (WMRs) are simple, easy to move on hard and level terrain and can be controlled effectively. Due to these merits, many researchers have studied the challenges of WMRs. To improve the payload transportation capability of wheeled vehicles, one or several platform, named as trailer, may towed to a tractor wheeled platform. In the current paper, for the first time, the motion control of such tractor trailer systems is addressed while the actuator dynamics is considered. Toward this goal, the system kinematics and dynamics will be derived and will be coupled to its actuators model. To control the considered nonholonomic system, the technique of input-output feedback linearization along with look-ahead point notion will be utilized. Besides, some of the imprecise parameters in the proposed model-based controller are identified in an on-line manner. The obtained computer simulation results support the soundness of the proposed controller.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"6 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":"123008875","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}
Saeed Bakhshi Germi, M. Khosravi, Rasul Fesharakifard
{"title":"Adaptive GA-based Potential Field Algorithm for Collision-free Path Planning of Mobile Robots in Dynamic Environments","authors":"Saeed Bakhshi Germi, M. Khosravi, Rasul Fesharakifard","doi":"10.1109/ICROM.2018.8657601","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657601","url":null,"abstract":"While detecting the obstacles is the first step in the proper operation of an autonomous robot, the most vital part is the path planning. Many path planning methods like potential field rely only on the position of the obstacles and the target to determine a valid path. Since the obstacles may move in the environment, the generated path based on these algorithms won’t be optimum. Recent algorithms tend to solve this problem by adding the dynamic information of the objects to the path planning method. While this approach seems to solve the problem completely, the lack of adaptiveness in many cases will cause problems if the mobile robot moves in various environment setups. This paper proposes an adaptive GA-based potential field algorithm for collision-free path planning. The modification is done by adding a term to the negative field based on the obstacle dynamics. To enhance the quality of the potential field in different situations, the required coefficients are calculated online with an adaptive genetic algorithm. The adaptiveness of the algorithm is achieved by changing the impact of population generation methods of genetic algorithm in each iteration. To validate the method, a series of simulations and experiments are conducted and the results confirm the effectiveness of the algorithm.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"6 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":"126886848","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}
{"title":"Optimal Trajectory Design for Conflict Resolution and Collision Avoidance of Flying Robots using Radau-Pseudo Spectral Approach","authors":"A. Kosari, Masoud Mirzaei Teshnizi","doi":"10.1109/ICROM.2018.8657506","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657506","url":null,"abstract":"This paper proposed a new methodology for optimal decentralized trajectory planning of multiple flying robots, in an obstacle-laden environment by incorporating obstacle avoidance and conflict resolution into one unified optimal control trajectory generation framework. In other words, an optimal trajectory that; firstly, passes through all obstacles, secondly maintains the safe flying zone for each of flying robot could be determined. In development of this path planner a Radau-pseudo spectral optimization method has been employed. The nonlinear point mass equations of motion of the flying vehicle in three dimensional space are utilized and realistic operational constraints influencing on flying vehicle state and control variables are considered via simplified mathematical models. The effectiveness of the proposed approach for solving centralized trajectory optimization problems, has been demonstrated via presenting a case study including two robots forced to fly in a hazardous area with fixed obstacles","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"34 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":"125692880","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}
{"title":"ROV Design Optimization: Effect on Stability and Drag force","authors":"J. Sahili, Al Hamoud, Ahmad Jammoul","doi":"10.1109/ICROM.2018.8657510","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657510","url":null,"abstract":"Design of Remotely Operated Vehicles (ROVs) is essential in underwater research. The design relies on a set of conditions and specifications related to the mission and payload of the robot. This paper reports the methodology of the design, which has been studied at the mechanical engineering department-faculty of engineering of the Lebanese University. The main issues addressed in this study are: directional drag minimization, symmetry, optimized thruster positioning, static and dynamic stability and layout of ROV components. This paper focusses on the methodology of the optimizing of ROV design performance.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"1 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":"129771522","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}
{"title":"Simultaneous fault detection and control design for robots with linear fractional-order model","authors":"M. Azimi, H. T. Shandiz","doi":"10.1109/ICROM.2018.8657495","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657495","url":null,"abstract":"The problems of simultaneous detection of fault and control (SFDC) for robots with linear fractional-order (FO) model or any system that can be modeled as a linear fractional-order are investigated in this study. The new rules in terms of LMI are displayed to build a SFDC unit. In essence, a Luenberger observer has been used as a fault explorer and the controller has been designed to form of an observer-based controller. This design is converted to H− /H∞ problem. In order to show the correctness of the design method and the resulting formulas, a numerical model simulated with MATLAB is presented in this article.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"10 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":"129825786","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}
{"title":"An Adaptive Controller for Bilateral Teleoperation Systems with Uncertain Kinematics and Dynamics","authors":"Afshin Javid, M. Nekoui","doi":"10.1109/ICROM.2018.8657549","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657549","url":null,"abstract":"In this study, the controller design problem for teleoperation system with time delay and uncertainty will be investigated. In most of current studies, only the dynamic uncertainties of robots have been investigated. However, in this paper, the control design problem of the system in the existence of dynamic as well as kinematic uncertainties is studied. Using the proposed adaptive algorithm, the unknown parameters are estimated and the model based controller is applied based on the estimated parameters. The stability of the uncertain system with time delay is investigated using the Lyapunov theory and Input-to-State Stability approach. Simulation results show the appropriate performance of the presented control methodology.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"57 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":"130278963","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}
{"title":"Adaptive back-stepping control of robot manipulators using the Fourier series expansion","authors":"Hossein Hajiani, S. Khorashadizadeh","doi":"10.1109/ICROM.2018.8657551","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657551","url":null,"abstract":"Based on back-stepping design procedure and function approximation by the Fourier series expansion, an adaptive controller for robot manipulators has been developed in this paper. The control law is designed based on estimation of the desired motor currents using orthogonal functions. The adaptation laws for the coefficients of the orthogonal functions are derived based on the stability analysis. In comparison with previous related works, the stability analysis of the proposed method is more comprehensive and complete due to including the motor currents dynamics in the controller design. Moreover, in comparison with other approaches based on the Fourier series, the proposed controller is superior due to the reduced number of required estimators. The approximation error is also compensated. The case study is two-link planar robot manipulator driven by permanent magnet DC motors. Simulation results show robustness of the proposed controller against large external disturbance. The output deviation from its desired value is very small and negligible when external disturbance is applied to the system.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"51 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":"117196918","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}
{"title":"Design, Modeling, and Fabrication of a 3-DOF Wrist Rehabilitation Robot","authors":"Negin Nikafrooz, M. Mahjoob, Mohamad Ali Tofigh","doi":"10.1109/ICROM.2018.8657532","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657532","url":null,"abstract":"Wrist impairment is a common cause of full/partial functional loss in the elderly. Such impairment may also occur after stroke, sport injuries or spinal cord injuries. A complete treatment process often includes certain rehab exercises after surgery or impairment to increase the wrist muscles tone. Therefore, extensive research has been conducted to design assistive rehab robots and devices to improve the treatment process. In this paper, a wrist rehabilitation robot is developed. The mechanical structure is fabricated based on the design requirements. The dynamic model of the robot is presented following anthropometric data. The final prototype, made at reasonable cost, offers three wrist degrees of freedom (DOF) and major wrist ranges of motion (ROM) required for standard wrist rehabilitation trainings.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"77 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":"115816688","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}
{"title":"The Role of AR and VR Technologies in Education Developments: Opportunities and Challenges","authors":"H. Ardiny, E. Khanmirza","doi":"10.1109/ICROM.2018.8657615","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657615","url":null,"abstract":"Technology has been growing fast and noticeably influencing different aspects of life such as education. Studies have revealed that (AR) and virtual reality (VR) have strong potentials for helping students to improve their skills and knowledge. In fact, bridging AR/VR and education can bring teaching and learning experiences in an attractive and effective way.In this review paper, we initially present an introduction to and a definition of AR/VR. We then briefly study ongoing research and latest products in AR/VR, that have pedagogical values and potentials to improve educational systems. We then highlight the capabilities and limitations of AR/VR to identify what AR/VR can provide for learners and teachers.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"10 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":"123763209","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}
{"title":"Nonlinear Control of a Space Robot with Slosh Dynamics in Two Dimension","authors":"M. Navabi, A. Davoodi","doi":"10.1109/ICROM.2018.8657590","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657590","url":null,"abstract":"Slosh dynamics could make some harmful changes in attitude paramters of space robots in orbital maneuvering. So, its necessary to control this harmful phenomenon. This paper presents a mathematical modeling and nonlinear control of sloshing and attitude coupled dynamics of a space robot in two dimension. Fuzzy and Lyapunov controllers are utilized for attitude stabilizng of the space robot. Effectiveness of this modeling and controllers are illustrated by the simulation results.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"50 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":"126825593","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}