Single robotMultiple human interaction via intelligent user interfaces.docx

Single robotMultiple human interaction via intelligent user interfaces.docx

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SinglerobotMultiplehumaninteractionviaintelligentuserinterfaces

mathematicalmodellinganddynamicresponseofaflexiblerobotmanipulatorwithrotating-prismaticjointareinvestigated.Thetipendoftheflexiblerobotmanipulatortracesamulti-straight-linepathundertheactionofanexternaldrivingtorqueandanaxialforce.Consideredrobotmanipulatorconsistsofarotatingprismaticjointandaslidingflexiblearmwithatipmass.FlexiblearmisassumedtobeanEuler–Bernoullibeamcarryinganend-mass.EquationsofmotionoftheflexiblemanipulatorareobtainedbyusingLagrange’sequationofmotion.Effectofrotaryinertia,axialshorteningandgravitationisconsideredintheanalysis.EquationsofmotionaresolvedbyusingfourthorderRunge–Kuttamethod.Numericalsimulationsobtainedbyusingadevelopedcomputerprogramarepresentedandphysicaltrendoftheresultsarediscussed.

ArticleOutline

1.Introduction

2.Dynamicmodel

3.Equationsofmotion

4.Mathematicalmodellingofthestraight-linepath

5.Numericalexample

6.Conclusion

Acknowledgements

References

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279

Multi-layerswitchedreluctancemotortoreducetorqueripple  OriginalResearchArticle

EnergyConversionandManagement,Volume49,Issue5,May2008,Pages974-979

FerhatDaldaban,NurettinUstkoyuncu

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Abstract

Anewmulti-layerswitchedreluctancemotor（MSRM）havingahighstartingtorquecapabilitywithreducedtorquerippleandacousticnoiseispresented.Measureddataandtheresultsofnumericalanalysisaregiventoevaluatethemotorstructure.Inthenumericalanalysis,duetothehighlynonlinearnatureofthemotor,finiteelementanalysis（FEA）isemployed.Aprototypemulti-layerSRMisbuiltandtestedintheexperimentalstudies.Theobtainedtestandsimulationresultsshowthatthemulti-layermotorstructurehasasmoothtorqueprofilewithhighstartingtorqueandlessacousticnoise.

ArticleOutline

1.Introduction

2.Basicconceptsaboutstartingtorqueandtorqueripple

3.DescriptionoftheproposedMSRM

4.Experimentalsetupandresults

5.Conclusions

Acknowledgements

References

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280

AMIRoLoSanactivemarkerinternet-basedrobotlocalizationsystem  OriginalResearchArticle

RoboticsandAutonomousSystems,Volume55,Issue4,30April2007,Pages306-315

R.Cassinis,F.Tampalini

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Abstract

SAURON（SurveillanceAUtonomousRobotsOverNetwork）isaresearchprojectfocusedontheuseofautonomouspatrollingrobotsforsurveillancepurposes.ThispaperpresentsthestructureofSAURONlocalizationmoduleAMIRoLoS（ActiveMarkerInternet-basedRobotLocalizationSystem）.Itprovidesondemandtherobotpositioninindoorandoutdoorenvironmentsusingactivemarkersandcommercialoff-the-shelfweb-cams.Thesystemhasaclient-serverarchitecture,andisnowpartofamessage-orientedmiddlewarethatisunderdevelopmentattheUniversityofBrescia.Thefunctionalityofthelocalizationmodulehasbeendemonstratedwithreal-worldexperiments.

ArticleOutline

1.Introduction

2.Problem’soverview

3.Theimplementedsystem

3.1.Themarkeragent

3.1.1.Markerconstruction

3.1.2.Modulatingthemarker’slight

3.1.3.Controllingthemarker

3.2.Thecameraagent

3.3.Theblobsdetectionagent

3.4.Themarkerlocalizationagent

3.4.1.Transformationofimagecoordinates

3.4.2.Theheadingproblem

3.5.Therobotcontrolagent

3.6.AMIRoLoSoutputinterface

4.Experimentalresults

5.Conclusionsandfutureresearch

Acknowledgements

References

Vitae

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281

Controlarchitectureforthepneumaticallyactuateddynamicwalkingbiped“Lucy”  OriginalResearchArticle

Mechatronics,Volume15,Issue6,July2005,Pages703-729

BjörnVerrelst,BramVanderborght,JimmyVermeulen,RonaldVanHam,JorisNaudet,DirkLefeber

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Abstract

ThispaperreportsonthecontrolstructureofthebipedLucy.Therobotisactuatedwithpleatedpneumaticartificialmuscleswhichhaveinterestingcharacteristicsthatcanbeexploitedforleggedmachines.Theyhaveahighpowertoweightratio,anadaptablecomplianceandtheyreduceimpacteffects.

Theconsideredcontrolstructurecanbedividedintotwoparts:

areal-timejointtrajectorygeneratorandatrajectorytrackingcontroller.Thelatterconsistsofacomputedtorquecontroller,adelta-punit,aPIcontrollerandabang–bangpressurecontroller.Thetrajectorygeneratorprovidespolynomialjointtrajectorieswhilethecomputedtorqueincombinationwiththedelta-punitcalculatestherequiredmusclepressurelevels.ThePIandbang-bangcontrollerworkatpressureleveltocopewithmodellingerrorsandtosetthepressuresineachmuscle.

Theproposedcontrolarchitectureisevaluatedwithafullhybriddynamicsimulationmodelofthebiped.Thissimulatorcombinesthedynamicalbehaviouroftherobotwiththethermodynamicaleffectsthattakeplaceinthemuscle-valvessystem.Theobservedhardwarelimitationsoftherealrobotandexpectedmodelerrorsaretakenintoaccountinordertogivearealisticqualitativeevaluationofthecontrolperformanceandtotestitsrobustness.Atthisstageacontrollerisdesignedforandevaluatedduringthesinglesupportphaseonly.Inthedoublesupportphasetherobotisover-actuatedandconsequentlyothercontrolstrategiesarenecessary.

Additionally,preliminaryresultsofawalkingmotionoftherealrobotwithbothfeetintheairaregiven.Theseshowpromisingresultsconcerningtrackingperformanceoftheproposedcontrolarchitecture.Theexperimentalresultsconfirmthatthepneumatictrackingsystemcanbeusedforadynamicapplicationsuchasabipedwalkingrobot.

ArticleOutline

1.Introduction

1.1.Leggedlocomotionandpneumatics

1.2.Pneumaticleggedrobots:

Overview

2.ThebipedLucy

3.Controlarchitecture

3.1.Trajectorygenerator

3.2.Computedtorquecontroller

3.3.Delta-punit

3.4.LocalPIandbang–bangpressurecontroller

4.Simulationmodel

4.1.Mechanics

4.2.Thermodynamics

4.3.Completesimulationmodel

5.Resultsanddiscussion

6.Preliminarytrackingexperiments

7.Conclusions

References

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282

Interfacialmicrostructureandstrengthofsteel/aluminumalloyjointsweldedbyresistancespotweldingwithcoverplate  OriginalResearchArticle

JournalofMaterialsProcessingTechnology,Volume209,Issue8,21April2009,Pages4186-4193

RanfengQiu,ChihiroIwamoto,ShinobuSatonaka

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Abstract

WejoinedaluminumalloyA5052tocold-rolledsteelSPCC（SteelPlateColdCommercial）andausteniticstainlesssteelSUS304usingresistancespotweldingwithacoverplate.Theinterfacialmicrostructurewasobservedusingtransmissionelectronmicroscopy.Athicktwo-layeredreactionlayercontainsFe2Al5andFeAl3andathinserrationreactionlayercontainsFe2Al5andFeAl3wereobservedattheA5052/SPCCandA5052/SUS304interface,respectively.MechanicalpropertyanalysissuggestedthatthereactionlayerhasnoeffectonthetensileshearstrengthoftheA5052/SUS304jointandthatthetensileshearstrengthoftheA5052/SPCCjointisinfluencedbythereactionlayerformedatitsinterface.

ArticleOutline

1.Introduction

2.RSWwithcoverplate

3.Experimentalmaterialsandprocedure

4.Experimentalresultsanddiscussions

4.1.Morphologyofreactionproductsintheweldinginterface

4.2.Microstructureofreactionproducts

4.3.Reasonofvariationofreactionlayerthicknessandmorphology

4.4.Nuggetdiameterandtensileshearloadofjoints

4.5.Effectofnuggetdiameterandreactionlayeronthetensileshearstrengthofjoints

5.Conclusions

References

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283

AproceduretoevaluateExtendedComputedTorqueControlconfigurationsintheStewart–Goughplatform  OriginalResearchArticle

RoboticsandAutonomousSystems,Volume59,Issue10,October2011,Pages770-781

AsierZubizarreta,MargaMarcos,ItziarCabanes,CharlesPinto

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Abstract

Parallelrobotshavebecomethebestsolutionwhenhighspeedand/oraccuracyareneededinindustrialroboticoperations.However,inordertomeettherequirementsofthesetasks,advancedmodelbasedcontrollerssuchastheExtendedCTCschemearerequired.ThisCTC-basedschemerequirestheintroductionofextrasensorsinthepassivejointsoftheparallelrobot.Thisredundantinformationallowstoincreasetherobustnessandperformanceofthecontrollaw,leadingtobettertrajectorytracking.However,inordertoachievethebestperformance,aproperextrasensordistributionisrequired.Inthispaper,asensitivityanalysisbasedapproachisappliedtothewellknownGoughPlatforminordertoevaluatedifferentextrasensordistributions.Theobtainedresultsarecomparedwiththoseobtainedbyastatisticallysignificantsetofsimulations,demonstratingtheeffectivenessofthemethodology.

ArticleOutline

1.Introduction

2.Extendedcomputedtorquecontrolapproach

3.EvaluationofextendedCTCconfigurations

3