Robot Manipulators

Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world

Optimal Structural Control Using Wavelet-based Lqr Algorithm

Tez (Yüksek Lisans) -- İstanbul Teknik Üniversitesi, Fen Bilimleri Enstitüsü, 2014Thesis (M.Sc.) -- İstanbul Technical University, Institute of Science and Technology, 2014Dünyada yapı alanında yürütülen faaliyetler incelendiğinde, yapıların daha yüksek ve daha hafif yapılması yönünde ilerleme olduğu görülmektedir. Bu özelliklerinden dolayı söz konusu yapılar daha esnek ve sönüm oranları da daha azdır. Bunun sonucunda yapıların yaşam konforunda azalma olmaktadır. Günümüzde yapıların titreşimini minimuma indirmek için çeşitli teknikler mevcuttur. Bu araştırmada yapıların titreşim kontrolü için kullanılan LQR (doğrusal kuadratik düzenleyici) algoritmalarında wavelet tekniği ile yapılacak iyileştirme incelenmiştir. Deprem gibi rastgele yükler karakter itibariyle dinamik ve değişken frekans özelliğine sahiptir. Bundan dolayı sistemin doğal frekansı ve depremin baskın frekanslarının birbirlerine çok yakın olduğu durumlarda rezonans benzeri durumlara oluşur. Klasik LQR kontrolunda ağırlık matrisleri önceden belirlenir ve yapı dış kuvvetlerin etkisinde kontrol edilirken sabit kalırlar. Bu sebepten dolayı rezonansın yapıya etkisini göz önüne almak için LQR kontrol yönteminde iyileştirme amaçlı değişiklik yapmak gerekmektedir. Eğer R ağırlık matrisinin elemanları depremin tüm kontrol aralığında Q ağırlık matrisinin elemanlarından çok daha fazla olursa yapının tepkisi azalır. Fakat buna karşılık kontrol kuvvetleri ve dolayısıyla da maliyet artar. Bu sorunu çözmek için, ağırlık matrisini yapının her andaki ihtiyacına göre değiştirmek uygun bir çözüm olabilir. Rezonansın olduğu frekanslarda yapının tepkisini azaltmak için ağırlık matrislerini belirtilen frekans bantlarında revize etmek gerekir. Eğer R ağırlık matrisi rezonansın ortaya çıktığı alt aralıklarda azaltılırsa kontrol enerjisinin gereksiz artışı önlenebilir. Bunun için deprem sinyalini ayrıştırmak gerekir ki; deprem frekansları her zaman aralığında belirlensin. Sinyalleri ayrıştırmak için çeşitli yollar mevcuttur. Fourier analizi sinyalleri zaman alanından frekans alanına dönüştüren klasik bir yöntemdir. Fourier analizi tekniğinin en önemli kusurlarından biri frekans alanına dönüştürmede zaman alanındaki bilgiler silinmektedir. Sonuç olarak, Fourier dönüşümündeki bir sinyale bakınca belirli bir olayın ne zaman olduğunu belirtmek zordur. Eğer sinyal özellikleri dönüşüm süresince fazla değişmedi ise, başka bir değişle sinyal sabit (stationary) kalırsa hiçbir sorun yaşanmaz. Ama deprem sabit olmayan özelliklere sahiptir ve bundan dolayı Fourier dönüşümüyle belirtilen özellikleri gözlemek mümkün değildir. Belirtilen sorunu çözmek için bu çalışmada daha önce geliştirilen Wavelet yöntemi kullanılmıştır. Wevelet yönteminin her andaki zaman-frekans dönüşüm özelliğinden yararlanarak LQR algoritmasını iyileştirmek mümkündür. İlk andan itibaren son kontrol anına kadar, her frekans bandında deprem nedeniyle oluşan enerji sonucunda Wavelet in her andaki ayrık kontrol değeri güncellenir. Bu bilgiler her frekans bandındaki ağrılık matrislerini güncellemek için kullanılır. Bu nedenle kazanç matrisleri zamanla değiştiği için karşı gelen Riccati matris denklemleri de değişmektedir. Klasik LQR kontrol yönteminde Q ve R ağırlık matrisleri sabit iken, bu çalışmada incelenen yöntemde kazanç matrislerinin önceden belirlenen ağırlık matrislerinden elde edilmesi yerine her andaki tepkiye bağlı olarak wavelet yaklaşımı ile güncellenen ağırlık matrislerinden elde edilen kazanç matrisleri kullanılmaktadır. Önerilen yöntemin etkinliğini gösterebilmek için, deprem etkisinde ve en üst katında aktif sönümleyici olan ve fay hattına yakın 10 katlı bir binanın dinamik davranışı araştırılmış ve önerilen yöntemin LQR yaklaşımını iyileştirmek için kullanılabileceği gösterilmiştir.Current trends in construction industry demands taller and lighter structures, which are also more flexible and having quite low damping value. This increases failure possibilities and also problems from serviceability point of view. Now-a-days several techniques are available to minimize the vibration of the structure. In this study to control the response of buildings, a modified linear quadratic regulator (LQR) algorithm based on wavelet analysis has been proposed. The formulation of the proposed wavelet-LQR algorithm uses the information derived from the discrete wavelet transform (DWT) analysis of the motivation in real time. The real time DWT controller is applied to obtain the local energy distribution over frequency bands for each time interval. This information is used to adaptively design the controller by updating the weighting matrices. The optimal LQR control problem is solved for each time interval with updated weighting matrices, through the Riccati equation, leading to time-varying gain matrices. The positive aspect of current work is that, the gain matrices are achieved adaptively in real time. The method is tested on a 10-story structure subject to several historical pulse-like near-fault ground motions.The results indicate that the proposed method is more effective at reducing the displacement response of the structure in real time than conventional LQR controllers.Yüksek LisansM.Sc

Methods and Sensors for Slip Detection in Robotics: A Survey

The perception of slip is one of the distinctive abilities of human tactile sensing. The sense of touch allows recognizing a wide set of properties of a grasped object, such as shape, weight and dimension. Based on such properties, the applied force can be accordingly regulated avoiding slip of the grasped object. Despite the great importance of tactile sensing for humans, mechatronic hands (robotic manipulators, prosthetic hands etc.) are rarely endowed with tactile feedback. The necessity to grasp objects relying on robust slip prevention algorithms is not yet corresponded in existing artificial manipulators, which are relegated to structured environments then. Numerous approaches regarding the problem of slip detection and correction have been developed especially in the last decade, resorting to a number of sensor typologies. However, no impact on the industrial market has been achieved. This paper reviews the sensors and methods so far proposed for slip prevention in artificial tactile perception, starting from more classical techniques until the latest solutions tested on robotic systems. The strengths and weaknesses of each described technique are discussed, also in relation to the sensing technologies employed. The result is a summary exploring the whole state of art and providing a perspective towards the future research directions in the sector

The Development and Control of Soft Robotic Materials Driven by Hydraulically Amplified Self-Healing Electrostatic (HASEL) Actuators

Soft robotics is a growing research area focused on the development of compliant, adaptable, and bio-inspired robotic systems. Compared to traditional robotic solutions, soft robots are better suited for medical devices, wearable electronics, human-robot interaction, and other unique applications. The use of compliant materials enables design simplicity and bio-inspiration as well as entirely new functionalities not present in rigid robotic solutions.Electrostatic actuators are an effective way to drive soft robotic motion because of their low cost, mechanical simplicity, and high actuation bandwidth. A specific class of electrostatic actuator, the Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator, further improves performance. However, system integration of HASEL actuator-driven robots is lacking. One approach to solving this problem is through the use of robotic materials which integrate actuation, sensing, communication, and control through a scalable constituent unit. Developing a HASEL actuator-driven soft robotic material would enable the creation of high degree of freedom robots with increased functionality. To do so, several challenges related to the sensing and feedback control of HASEL actuators must first be addressed.This thesis describes research efforts in the design and control of HASEL actuator-driven systems. Chapter 1 presents a literature review of soft robotics, soft actuators, and introduce the concept of robotic materials. Chapter 2 then presents a system identification and control technique for a single HASEL actuator. The system integrates a soft capacitive sensor onto the actuator. Then the control of a multi-HASEL-actuator robot using a novel magnetic sensing mechanism is presented in Chapter 3. Chapter 4 builds upon these results by introducing sTISSUE, a soft robotic material using HASEL actuators and the magnetic sensing mechanism. Multiple advanced demonstrations highlight the capabilities of this robotic material. Chapter 5 presents a multi-functional artificial potential field control method to enable highly controllable object manipulation with actuator arrays. Finally, Chapter 6 provides concluding statements and suggested next steps

14th Conference on Dynamical Systems Theory and Applications DSTA 2017 ABSTRACTS

From Preface: This is the fourteen time when the conference “Dynamical Systems – Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and the Ministry of Science and Higher Education. It is a great pleasure that our invitation has been accepted by so many people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcome nearly 250 persons from 38 countries all over the world. They decided to share the results of their research and many years experiences in the discipline of dynamical systems by submitting many very interesting papers. This booklet contains a collection of 375 abstracts, which have gained the acceptance of referees and have been qualified for publication in the conference proceedings [...]

Control Theory in Engineering

The subject matter of this book ranges from new control design methods to control theory applications in electrical and mechanical engineering and computers. The book covers certain aspects of control theory, including new methodologies, techniques, and applications. It promotes control theory in practical applications of these engineering domains and shows the way to disseminate researchers’ contributions in the field. This project presents applications that improve the properties and performance of control systems in analysis and design using a higher technical level of scientific attainment. The authors have included worked examples and case studies resulting from their research in the field. Readers will benefit from new solutions and answers to questions related to the emerging realm of control theory in engineering applications and its implementation

Visual Servoing

The goal of this book is to introduce the visional application by excellent researchers in the world currently and offer the knowledge that can also be applied to another field widely. This book collects the main studies about machine vision currently in the world, and has a powerful persuasion in the applications employed in the machine vision. The contents, which demonstrate that the machine vision theory, are realized in different field. For the beginner, it is easy to understand the development in the vision servoing. For engineer, professor and researcher, they can study and learn the chapters, and then employ another application method

30th International Conference on Condition Monitoring and Diagnostic Engineering Management (COMADEM 2017)

Proceedings of COMADEM 201

Neural Extended Kalman Filter for State Estimation of Automated Guided Vehicle in Manufacturing Environment

To navigate autonomously in a manufacturing environment Automated Guided Vehicle (AGV) needs the ability to infer its pose. This paper presents the implementation of the Extended Kalman Filter (EKF) coupled with a feedforward neural network for the Visual Simultaneous Localization and Mapping (VSLAM). The neural extended Kalman filter (NEKF) is applied on-line to model error between real and estimated robot motion. Implementation of the NEKF is achieved by using mobile robot, an experimental environment and a simple camera. By introducing neural network into the EKF estimation procedure, the quality of performance can be improved