Dynamic modeling of McKibben muscle using empirical model and particle swarm optimization method

This paper explores empirical modeling of McKibben muscle in characterizing its hysteresis behavior and nonlinearities during quasi-static, quasi-rate, and historic dependencies. The unconventional materials-based actuating system called McKibben muscle has excellent properties of power-to-weight ratio, which could be used in rehabilitation orthosis application for condition monitoring, physical enhancement, and rehabilitation therapy. McKibben muscle is known to exhibit hysteresis behavior and it is rate-dependent (the level of hysteresis depends closely on rate of input excitation frequency). This behavior is undesirable and it must be considered in realizing high precision control application. In this paper, the nonlinearities of McKibben muscle is characterized using empirical modeling with multiple correction functions such as shape irregularity and slenderness. A particle swarm optimization (PSO) method is used to determine the best parametric values of the proposed empirical with modified dynamic friction model. The LabVIEW and MATLAB platforms are used for data analysis, modeling and simulation. The results confirm that this model able to significantly characterize the nonlinearities of McKibben muscle while considering all dependencies

Automation and Robotics: Latest Achievements, Challenges and Prospects

This SI presents the latest achievements, challenges and prospects for drives, actuators, sensors, controls and robot navigation with reverse validation and applications in the field of industrial automation and robotics. Automation, supported by robotics, can effectively speed up and improve production. The industrialization of complex mechatronic components, especially robots, requires a large number of special processes already in the pre-production stage provided by modelling and simulation. This area of research from the very beginning includes drives, process technology, actuators, sensors, control systems and all connections in mechatronic systems. Automation and robotics form broad-spectrum areas of research, which are tightly interconnected. To reduce costs in the pre-production stage and to reduce production preparation time, it is necessary to solve complex tasks in the form of simulation with the use of standard software products and new technologies that allow, for example, machine vision and other imaging tools to examine new physical contexts, dependencies and connections

Research and technology

Significant research and technology activities at the Johnson Space Center (JSC) during Fiscal Year 1990 are reviewed. Research in human factors engineering, the Space Shuttle, the Space Station Freedom, space exploration and related topics are covered

Advanced Knowledge Application in Practice

The integration and interdependency of the world economy leads towards the creation of a global market that offers more opportunities, but is also more complex and competitive than ever before. Therefore widespread research activity is necessary if one is to remain successful on the market. This book is the result of research and development activities from a number of researchers worldwide, covering concrete fields of research

Technology 2003: The Fourth National Technology Transfer Conference and Exposition, volume 2

Proceedings from symposia of the Technology 2003 Conference and Exposition, Dec. 7-9, 1993, Anaheim, CA, are presented. Volume 2 features papers on artificial intelligence, CAD&E, computer hardware, computer software, information management, photonics, robotics, test and measurement, video and imaging, and virtual reality/simulation

The 1989 JSC bibliography of scientific and technical papers

This document is a compilation of Lyndon B. Johnson Space Center contributions to the scientific and technical literature in aerospace and life sciences made during calendar year 1989. Citations include NASA formal series reports, journal articles, conference and symposium presentations, papers published in proceedings or other collective works, and seminar and workshop results

NASA Tech Briefs, February 1992

Topics covered include: New Product Development; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

Contemporary Robotics

This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

NASA Tech Briefs, December 1991

Topics include: Electronic Components and Circuits. Electronic Systems, Physical Sciences, Materials, Computer Programs, Mechanics, Machinery, Fabrication Technology, Mathematics and Information Sciences

Large space structures and systems in the space station era: A bibliography with indexes (supplement 04)

Bibliographies and abstracts are listed for 1211 reports, articles, and other documents introduced into the NASA scientific and technical information system between 1 Jul. and 30 Dec. 1991. Its purpose is to provide helpful information to the researcher, manager, and designer in technology development and mission design according to system, interactive analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion, and solar power satellite systems