Advanced Materials Research Vols. 463-464

Abstract: This paper describes basic principles of the kinematic structure design for two - leg walking robots. The article deals with the design of walking phases detailed, which is described in sagital and frontal plane so that movement of the centre of gravity was outside the support polygon and also offers the model of walk for the concrete construction of the two - leg walking robot. This article is the result of research activities of our department in humanoid robotics.

Abstract: According to the rapid development of modem industry, and many power and electronic equipment been used in power system, the quality of power is more and more important. This paper analyzes the cause of power quality, and then designs the hardware system of power quality monitoring system. Based on this, a software system with graphics user interface is also designed in this paper. Finally, after experiment, it shows this power quality monitoring system is friendly to use with stable performance

Abstract: The interest in assistance and personal robots is constantly growing. Therefore robots need new, sophisticated interaction abilities. Psychologists point out that most of the human-human interaction is conducted nonverbally. For that reason, researchers try to enable humanoid robots to realize nonverbal communication signals. This paper presents a compact, lightweight, and low-cost arm and hand design to enable humanoid robots to use gestures as nonverbal interaction signals.

Abstract: The continuous growing of application’s complexity and increased interest in automated negotiation brought recently researcher’s attention to persuasive negotiation (PN) and argumentation-based negotiation (ABN). The Market-based approach has gained popularity in the last decade due to its flexibility, speed and robustness. Contract Net protocol inspired algorithms have been proved suitable for allocating weakly coupled tasks in robot teams, but there are still some challenges when addressing complex application in uncertain environments. In this context the purpose of the paper is to present a method to allocate tasks in multi-robot systems through the use of augmentation- based negotiation.

Abstract: The paper presents a method for studying mechanisms with deformable elements, based on overlapping the solid rigid motion over the elastic solid one, in order to identify the dynamic response of the system. Modeling was based on finite element method, so the cinematic elements were meshed in bar type finite elements and the degrees of freedom per node were settled according to the motion character (planar or spatial). A Lagrange formulation of the finite element was adopted for the deformable elements connected in multibody systems. In order to define the joints constraints, the conditions for compatibility between elements were defined using a Boolean constant matrix. Computer processed results were verified by an experimental model.

Abstract: This paper presents the effects of intermediate location and time-varying end mass on the dynamic response of flexible robot manipulator with rotating-prismatic joint in tracing multi-straight-line path. The tip end of the flexible robot manipulator traces a multi-straight-line path under the action of external driving torque and axial force. Flexible arm which consist of a rotating-prismatic joint, is assumed to be an Euler-Bernoulli beam carrying an end mass. The Lagrangian dynamics in conjunction with the assumed modes method is utilized in deriving the equations of motion. Effect of rotary inertia, axial shortening and gravitation has been considered in developing the dynamic model. Equations of motion are numerically solved by using the Runge-Kutta method. Numerical results of computer simulations for tip deflection are presented in graphical form. Physical trends of the obtained numerical results are discussed.

Abstract: This paper presents a trajectory generation approach for a 7-DOF biped robot on level ground. Simultaneously rotation of feet in double support phase is considered which leads to high-speed and more similar to human being walking. The zero moment point (ZMP) stability criterion is used to ensure the stability of the bipedal walking robot. Since ZMP trajectory in human walking does not stay fixed, it needs to be a straight line shaped forward ZMP trajectory to have a natural walk. A genetic algorithm based method is proposed to obtain key parameters in trajectory generation such that the ZMP follows a predefined trajectory while minimizing power consumption. Simulation results demonstrate the effectiveness of the proposed method.

Abstract: This paper proposes a combined hardware-software approach for a controller design. The case of a brushless DC (BLDC) motor speed controller is studied. A hardware controller is implemented inside a field programmable gate array (FPGA) device, together with soft core processors that implement by software non-critical tasks, like liquid crystal display (LCD) interface and serial data communication to a host computer. This way, the control algorithm is executed in hardware, as fast as possible, while the monitoring tasks are performed by the software. Experimental results are provided, showing the working design.

Abstract: The aim of shaping management empathy is to know future specialists performance and their improvement in human-computer-machine dialogue. Therefore, we’ve defined the concept of management empathy and we’ve built fuzzy models that allowed the quantification of the empathic level manager-executed in the idea of increasing human elements of the correlation educator-teacher. Management decisions in the final forms benefit both from the archemic-systemic design and the mathematical models able to quantify intelligent robotic systems to its highest performance. This goal requires minimum effort and efficiency as high as possible in the processes and robotic systems. The final optimal solution fully reflects the innovative archemic-system design if and only if the information entropy of intelligent robotic systems is minimal under full compliance with environmental restrictions.

Abstract: In this paper are presented the necessary concepts, several methodologies as well as algorithms for measuring the industrial robots precision experimental determination of workspace. Considering the fact that industrial robots precision it’s influenced by several factors I have studied various ways and measurement algorithms as well as the influence factors.