发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Design and Experimental Development of Hexapod Robot with Fiberglass-Fibercarbon Composite Legs 玻璃钢复合腿六足机器人设计与实验研究
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657521
Amirreza Kebritchi, Sara Havashinezhadian, M. Rostami
{"title":"Design and Experimental Development of Hexapod Robot with Fiberglass-Fibercarbon Composite Legs","authors":"Amirreza Kebritchi, Sara Havashinezhadian, M. Rostami","doi":"10.1109/ICROM.2018.8657521","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657521","url":null,"abstract":"Over the last few years, the universal number of legged robots has increased astonishingly in outdoor environments. In this paper, the design, and control of a new RHex robot named IRHex with innovative Fiberglass-Fiber carbon composite legs are described. IRHex is a six-legged robot_one actuator located at each hip_achieving mechanical uncomplicatedness that provides a reliable performance. In this investigation, the new material used for building IRHex legs was discovered after several tests on the effect of sequence and orientation of laminates in the composite. IRHex achieves robust locomotion using a computer board analyzing the data sent by the sensors and communicating to the ground station even from far distances.","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":"126094195","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
Design of a broadband high frequency ultrasound transducer for skin imaging 用于皮肤成像的宽带高频超声换能器的设计
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657631
Ali Babazadeh Khameneh, Hamid Reza Chabok, Hossein Nejat
{"title":"Design of a broadband high frequency ultrasound transducer for skin imaging","authors":"Ali Babazadeh Khameneh, Hamid Reza Chabok, Hossein Nejat","doi":"10.1109/ICROM.2018.8657631","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657631","url":null,"abstract":"This paper discusses the design of a high frequency wide bandwidth ultrasound transducer with the center frequency of 50 MHz and an aperture diameter of 3 mm for medical ultrasonic imaging. The piezoelectric material used in this design is Lithium Niobate. The design is verified by both KLM equivalent circuit and spatial impulse response method as used in FIELD II software and the theoretical imaging resolution has been calculated as 50 um axially and 80 um laterally. The possible applications of this probe are skin layer imaging, tumor detection and superficial blood flow measurement.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"59 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":"126678997","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
Energy harvesting using magnetic shape memory alloy under biaxial mechanical loading 磁性形状记忆合金在双轴机械载荷下的能量收集
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657556
H. Sayyaadi, M. Hoviattalab, M. Mehrabi
{"title":"Energy harvesting using magnetic shape memory alloy under biaxial mechanical loading","authors":"H. Sayyaadi, M. Hoviattalab, M. Mehrabi","doi":"10.1109/ICROM.2018.8657556","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657556","url":null,"abstract":"Magnetic shape memory alloys (MSMAs) are a kind of smart materials which are of great importance due to some unmatched behaviors when subjected to a mechanical loading or a magnetic field. In this work, energy harvesting from an MSMA specimen is studied. The MSMA specimen is embedded in a common magnetic circuit in this field of research and by applying mechanical loading, its effect on the specimen magnetic characteristics and induced voltage is investigated. Mechanical loading is applied in the form of strain-input and three kinds of 2D loadings are used including sinusoidal-sinusoidal, sinusoidal-triangular and triangular-triangular. It is demonstrated that the highest voltage is obtained in sinusoidal-sinusoidal loading and there is a negative correlation between the phase difference of the applied loadings in two directions and output voltage.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"4 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":"122277579","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
Investigating the effect of torque amplitude on the chaotic oscillations in flexible manipulators 研究了力矩幅值对柔性机械臂混沌振动的影响
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657591
O. Mehrjooee, S. F. Dehkordi
{"title":"Investigating the effect of torque amplitude on the chaotic oscillations in flexible manipulators","authors":"O. Mehrjooee, S. F. Dehkordi","doi":"10.1109/ICROM.2018.8657591","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657591","url":null,"abstract":"In this paper, the effect of torque amplitude on the chaotic oscillations in a flexible manipulator is investigated. The occurrence of chaotic behavior can lead to irregularities in the system motion which in turn makes the system behavior unpredictable. To analyze the effect of torque amplitude, the flexible system behavior is obtained using the recursive Gibbs-Appell formulation. Moreover, the elastic deformation of links is modeled with the aid of the assumed modes method. Finally, the motion equations for a dual-link flexible robot with one mode shape are rewritten and the nonlinear dynamical behavior of the system is examined by numerical integration of discretized motion equations for three cases of torque functions. The results are presented in the form of bifurcation diagrams of Poincaré maps along with time histories and fast Fourier transforms. The results indicate that for an input in the form of periodic or step function, it is probable to observe bifurcation and thus chaotic oscillations. This should be defined as a limitation for similar systems.","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":"130325993","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
Image Saliency Detection By Residual And Inception-like CNNs 残差和类初始cnn图像显著性检测
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657572
Hooman Misaghi, R. A. Moghadam, Ali Akbar Mahmoudi, A. Salemi
{"title":"Image Saliency Detection By Residual And Inception-like CNNs","authors":"Hooman Misaghi, R. A. Moghadam, Ali Akbar Mahmoudi, A. Salemi","doi":"10.1109/ICROM.2018.8657572","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657572","url":null,"abstract":"Saliency detection is an important task in image processing as it can solve many problems and it usually is the first step in other processes. Saliency detection is traditionally carried out by using hand-crafted features obtained from principles in neuroscience. On the other hand, introduction of convolutional neural networks was to some degree a paradigm shift in the field of object detection and it impacted other areas of image processing, including salient regions detection, as a whole. In this paper various methods of saliency detection systems are reviewed. Then, two new methods based on deep learning and convolutional neural networks have been introduced for pixel level detection. These methods are fast and accurate making them desirable for real-time implementation.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"26 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":"133303981","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
Determination of DLCC for Elastic Robotic Manipulators 弹性机械臂DLCC的测定
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657526
V. Rezaei, A. M. Shafei
{"title":"Determination of DLCC for Elastic Robotic Manipulators","authors":"V. Rezaei, A. M. Shafei","doi":"10.1109/ICROM.2018.8657526","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657526","url":null,"abstract":"The objective of the present work is to study the dynamic load-carrying capacity for a mechanical manipulator constructed of elastic arms. The optimal control is used in open-loop form to obtain the mathematical formulation. The Pontryagin Minimum Principle is proposed as a good way to fulfill this purpose that results a two-point boundary value problem. The Gibbs-Appell formulation is adopted to extract the dynamic equations and also assumed modes method is utilized to model the elastic characteristic of each links. The main target of present article is to find an optimal trajectory when elastic arms are carrying their maximum permissible level of payload. Finally, to show the accuracy of the results gained from computer simulation, the results of an experimental set up belongs to a two-link elastic robotic manipulator are compared with it and show a good agreement.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"3 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":"132823677","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
A Robust Adaptive Impedance Control of Robots 机器人鲁棒自适应阻抗控制
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657545
Gholamreza Nazmara, M. Fateh, Seyed Mohammad Ahmadi
{"title":"A Robust Adaptive Impedance Control of Robots","authors":"Gholamreza Nazmara, M. Fateh, Seyed Mohammad Ahmadi","doi":"10.1109/ICROM.2018.8657545","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657545","url":null,"abstract":"In response to an environment, the robotic system’s desired dynamical behavior is modelled as a desired impedance, namely a reference model. The reference model, which is considered as an adaptive system gives the desired response to the contact force. Furthermore, a Model-Reference Adaptive Control System (MRACS) is designed via the strategy of voltage control to provide an impedance control which is robust against structured and unstructured uncertainty. Compared to the conventional adaptive impedance controls, which are designed by the strategy of torque control, it is simpler, more reliable and robust. The proposed control algorithm is simulated on an electrically-driven SCARA robotic system. Simulation results and comparison with an adaptive impedance control and force disturbance rejection-based adaptive controller are presented to show the control effectiveness.","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":"127979878","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: 5
PR-MPC for NAO H21 Humanoid Robot: Capture Point Approach NAO H21人形机器人的PR-MPC:捕获点方法
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657530
A. Feizi, Mohammad Haddad Zarif, M. Nazari, S. Varedi-Koulaei
{"title":"PR-MPC for NAO H21 Humanoid Robot: Capture Point Approach","authors":"A. Feizi, Mohammad Haddad Zarif, M. Nazari, S. Varedi-Koulaei","doi":"10.1109/ICROM.2018.8657530","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657530","url":null,"abstract":"The main target of this paper is to present a Push Recovery (PR) controller for the NAO H21 robot using Model Predictive Control (MPC) method. In order to compensate the applied push the hip strategy, the ankle strategy, the stepping strategy, and the upper-limb rotation strategy have been used. For balance recovery, the Capture Point (CP) position should be guided to the preferred position. For this purpose, the modulation of the Zero Moment Point (ZMP) position and the Centroidal Moment Pivot (CMP) position should be done. Hence, the control of the CP is done using the MPC. Two situations are considered: until the CP position is out of the support polygon the CMP modulation is used and until the CP position is into it the ZMP modulating is used. This strategy is executed on the NAO H21 in dealing with different pushes successfully.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"31 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":"123162031","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
Experimental study of RoboRat through deep brain stimulation and carbon nanotube coated microelectrodes 脑深部电刺激与碳纳米管微电极的实验研究
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657493
V. Azimirad, P. Shahabi, Soheil Jafarizade, Taraneh Dehghan Helan, J. Mahmoudi
{"title":"Experimental study of RoboRat through deep brain stimulation and carbon nanotube coated microelectrodes","authors":"V. Azimirad, P. Shahabi, Soheil Jafarizade, Taraneh Dehghan Helan, J. Mahmoudi","doi":"10.1109/ICROM.2018.8657493","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657493","url":null,"abstract":"This paper presents a new test bed for control of RoboRat through deep brain stimulation. Alive free rat is controlled in order to move in desired directions. Surgery is performed on a rat's brain to put microelectrodes in MFB and S1BF areas (in left and right hemispheres). We used four bipolar implanted microelectrodes which are CNT coated by drop coating method. In experiments, the exact locations of electrodes are tested by removing the brain. Electrical stimulation of rat is done through an isolated portable signal generator circuit (as slave) which is carried by the rat. It has a RF receiver for communication with computer and a microcontroller for signal generation. Stimulation electrodes are connected to microcontroller so that the resistant is about 100 KΩ in artificial cerebral spinal fluid. Slave system is connected wirelessly to a computer (as master) so that an operator is able to control it. A graphic user interface is designed for ease of operation. The remote control system is implemented and tested on rat. The stimulation of both hemispheres is done simultaneously and non-simultaneously. The whole system is examined in three-day period and it showed that the brain-computer interface for rat using CNT coated microelectrodes is the effective in practice.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"11254 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":"121056651","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
Energy harvesting from plate using Magnetic Shape Memory Alloys 磁性形状记忆合金从板上收集能量
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657576
H. Sayyaadi, Hossein Naderi
{"title":"Energy harvesting from plate using Magnetic Shape Memory Alloys","authors":"H. Sayyaadi, Hossein Naderi","doi":"10.1109/ICROM.2018.8657576","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657576","url":null,"abstract":"Ferromagnetic shape memory alloys (FSMA) are new class of smart material and have been investigated for sensor and actuator and energy harvester applications.this paper presents the basis for a novel pressure sensor based on ferromagnetic shape memory alloys. Underlying mechanism for sensing applications is martensitic reorientation accompanied by a chang of magnetization of plate. When this alloy, is exposed in an external magnetic field or stress, has change of magnetization in result .the change in the magnetization of the alloy in accordance with the Faraday induction law, in the wires of the coil leads to the induction voltage. In this paper, a phenomenological constitutive structural model for FSMA is presented in the framework of thermodynamics of irreversible processes. In this research, for modeling these systems, a structural model of the thermodynamic base suitable for predicting the behavior of magnetic shape memory alloys In different strains, using the proposed structural model, the pressure on the plate and the vertical displacement under magnetic-mechanical loading are predicted.To continue the process and return strains to the alloy, a bias magnetic field is applied in the transverse direction to the alloy. In this paper, the theory of plate kiroshchoff taking into account with nonlinear terms of von Karman, the structural model based thermodynamics is used to predict the nonlinear strain_ magnetic response. We employ matlab software for simulating the behavior of plate. The simulation demonstrates that reorientations of martensitic are detectable in thin plate despite the complex distribution of mechanical stress .The results show new class of pressure sensor using MSMA.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"48 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":"125776343","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信