2024-03-29T15:50:35Zhttp://nur.nu.edu.kz/oai/requestoai:nur.nu.edu.kz:123456789/11682018-08-15T03:49:49Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Jung, Jin-Woo
Leu, Viet Quoc
Do, Ton Duc
Kim, Eun-Kyung
Choi, Han Ho
Leu, Viet Quoc
2016-02-08T05:18:43Z
2016-02-08T05:18:43Z
2014
Jin-Woo Jung, Viet Quoc Leu, Ton Duc Do, Eun-Kyung Kim, Han Ho Choi; 2014; Adaptive PID Speed Control Design for Permanent Magnet Synchronous Motor Drives; IEEE Transactions on Power Electronics
http://nur.nu.edu.kz/handle/123456789/1168
This paper proposes an adaptive
proportionalintegralderivative (PID) speed control scheme
for permanent magnet synchronous motor (PMSM) drives. The
proposed controller consists of three control terms: a
decoupling term, a PID term, and a supervisory term. The first
control term is employed to compensate for the nonlinear
factors, the second term is made to automatically adjust the
control gains, and the third one is designed to guarantee the
system stability. Different from the offline-tuning PID
controllers, the proposed adaptive controller includes adaptive
tuning laws to online adjust the control gains based on the
gradient descent method. Thus, it can adaptively deal with any
system parameter uncertainties in reality. The proposed
scheme is not only simple and easy to implement, but also it
guarantees an accurate and fast speed tracking. It is proven
that the control system is asymptotically stable. To confirm the
effectiveness of the proposed algorithm, the comparative
experiments between the proposed adaptive PID controller and
the conventional PID controller are performed on the PMSM
drive. Finally, it is validated that the proposed design scheme
accomplishes the superior control performance (faster
transient response and smaller steady-state error) compared to
the conventional PID method in the presence of parameter
uncertainties
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2016-02-08T05:18:43Z
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Research Subject Categories::TECHNOLOGY
Adaptive control, parameter uncertainties, PID control, surface-mounted permanent magnet synchronous motor
(SPMSM)
Adaptive PID Speed Control Design for Permanent Magnet Synchronous Motor Drives
Article
oai:nur.nu.edu.kz:123456789/11702018-08-15T03:49:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Do, Ton Duc
Leu, Viet Quoc
Choi, Young-Sik
Choi, Han Ho
Jung, Jin-Woo
2016-02-08T05:39:12Z
2016-02-08T05:39:12Z
2012
Ton Duc Do, Viet Quoc Leu, Young-Sik Choi, Han Ho Choi, Jin-Woo Jung; 2013; An Adaptive Voltage Control Strategy of Three- Phase Inverter for Standalone Distributed Generation Systems; IEEE
http://nur.nu.edu.kz/handle/123456789/1170
This paper proposes an adaptive control method of
three-phase inverter for standalone distributed generation
systems (DGSs). The proposed voltage controller includes two
control terms: an adaptive compensating term and a stabilizing
term. The adaptive compensating control term is constructed to
avoid directly calculating the time derivatives of state variables.
Meanwhile, the stabilizing control term is designed to
asymptotically stabilize the error dynamics of the system. Also, a
fourth-order optimal load current observer is proposed to reduce
the number of current sensors and enhance the system reliability
and cost effectiveness. Stability of the proposed voltage controller
and the proposed load current observer is fully proven by using
Lyapunov theory. The proposed control system can establish
good voltage regulation such as fast dynamic response, small
steady state error, and low total harmonic distortion (THD)
under sudden load change, unbalanced load, and nonlinear load.
Finally, the validity of the proposed control strategy is verified
through simulations and experiments on a prototype DGS testbed
with a TMS320F28335 DSP. For a comparative study, the
feedback linearization for multi-input and multi-output (FLMIMO)
control scheme is implemented and its results are
presented in this paper
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Previous issue date: 2012
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Adaptive control
distributed generation system (DGS)
load current observer
standalone
three-phase inverter
voltage control
An Adaptive Voltage Control Strategy of Three- Phase Inverter for Standalone Distributed Generation Systems
Article
oai:nur.nu.edu.kz:123456789/11712018-08-15T03:49:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Do, Ton Duc
Choi, Han Ho
Jung, Jin-Woo
2016-02-08T05:53:30Z
2016-02-08T05:53:30Z
2015
Ton Duc Do, Han Ho Choi, Jin-Woo Jung; 2015; Nonlinear Optimal DTC Design and Stability Analysis for Interior Permanent Magnet Synchronous Motor Drives; IEEE/ASME TRANSACTION ON MECHATRONICS
http://nur.nu.edu.kz/handle/123456789/1171
This paper presents a nonlinear optimal direct
torque control (DTC) scheme of interior permanent magnet
synchronous motors (IPMSMs) based on an offline
approximation approach for electric vehicle (EV) applications.
First, the DTC problem is reformulated in the stationary
reference frame in order to avoid estimating the stator flux
angle, which the previous DTC schemes in the rotating stator
reference frame require. Thus, the proposed DTC method
eliminates the Park’s transformation and consequently it
reduces the computational efforts. Particularly, since the
estimated stator flux angle is not accurate in low speed range,
the proposed method that does not need this information can
significantly improve the control performance. Moreover, a
nonlinear optimal DTC algorithm is proposed to deal with the
nonlinearity of the IPMSM drive system. In this paper, a simple
offline θ-D approximation technique is utilized to appropriately
determine the controller gains. Via an IPMSM test-bed with a
TI TMS320F28335 DSP, the experimental results demonstrate
the feasibility of the proposed DTC method by accomplishing
better control performances (e.g., more stable in low speed
region, much smaller speed and torque ripples, and faster
dynamic responses) compared to the conventional proportionalintegral
(PI) DTC scheme under various scenarios with the
existence of parameter uncertainties
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2016-02-08T05:53:30Z
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Previous issue date: 2015
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Direct torque control
electric vehicle (EV)
interior permanent magnet synchronous motor (IPMSM)
nonlinear optimal control
Nonlinear Optimal DTC Design and Stability Analysis for Interior Permanent Magnet Synchronous Motor Drives
Article
oai:nur.nu.edu.kz:123456789/11742018-08-15T03:49:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Do, Ton Duc
Noh, Yeongil
Kim, Myeong Ok
Yoon, Jungwon
2016-02-08T06:07:26Z
2016-02-08T06:07:26Z
2015
Ton Duc Do, Yeongil Noh, Myeong Ok Kim, Jungwon Yoon; 2015; An Optimized Field Function Scheme for Nanoparticle Guidance in Magnetic Drug Targeting systems; IEEE
http://nur.nu.edu.kz/handle/123456789/1174
Magnetic drug targeting is an approach to guide
and concentrate magnetic nanoparticles (MNPs) into the
diseased target organ after being injected into blood vessels.
Although many works for drug targeting have been conducted,
there are few studies on delivering the nanoparticles to the target
region. Drug delivery performance has not been addressed
sufficiently or fully. In this paper, we investigate the effect of
dominant factors to MNPs delivery performance. Then, an
optimized field function scheme with a pulsed magnetic
actuation is proposed to significantly improve the MNPs
guidance performance. With a specific condition of blood vessel
size, particle size, and applied magnetic field, the optimized
parameters of the field function are selected through extensive
simulation studies. We find out that the optimal negative and
positive time for the magnetic pulsed field mainly depends on
the exit time for particles to reach the bifurcation and the critical
time as the maximum time for them to reach the vessels wall,
respectively. With the chosen parameters, we show that ratios of
correctly guided particles in a Y-channel are reached to 100%.
In addition, to minimize the power consumption, a modified field
function (MFF) scheme is introduced. The MFF includes a
no-power time, called zero-time, between the positive and
negative time. It is shown that with the proposed MFF, the
energy consumption and the heating problem of the actuator
system can be significantly reduced. Therefore, the proposed
guidance scheme for MNPs can overcome the sticking issue and
maximize the guidance performance as well as reducing the
power consumption. It should be noted that the MFF can be
easily implement by programmable DC power supplies
connected to electromagnetic coils
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2016-02-08T06:07:26Z
No. of bitstreams: 2
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IROS2015.pdf: 1579015 bytes, checksum: 28f869382a7f110185c7eb4431263931 (MD5)
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Drug delivery
Field function
Magnetic drug targeting
Magnetic nanoparticle
Optimization
An Optimized Field Function Scheme for Nanoparticle Guidance in Magnetic Drug Targeting systems
Article
oai:nur.nu.edu.kz:123456789/11762018-08-15T03:49:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Jung, Jin-Woo
Dang, Dong Quang
Vu, Nga Thi-Thuy
Justo, Jackson John
Do, Ton Duc
Choi, Han Ho
Kim, Tae Heoung
2016-02-08T06:15:59Z
2016-02-08T06:15:59Z
2015
Jin-Woo Jung, Dong Quang Dang, Nga Thi-Thuy Vu, Jackson John Justo, Ton Duc Do, Han Ho Choi, Tae Heoung Kim; 2015; A Nonlinear Sliding Mode Controller for IPMSM Drives with an Adaptive Gain Tuning Rule; Journal of Power Electronics
http://nur.nu.edu.kz/handle/123456789/1176
This paper presents a nonlinear sliding mode control (SMC) scheme with a variable damping ratio for interior permanent
magnet synchronous motors (IPMSMs). First, a nonlinear sliding surface whose parameters change continuously with time is
designed. Actually, the proposed SMC has the ability to reduce the settling time without an overshoot by giving a low damping
ratio at the initial time and a high damping ratio as the output reaches the desired setpoint. At the same time, it enables a fast
convergence in finite time and eliminates the singularity problem with the upper bound of an uncertain term, which cannot be
measured in practice, by using a simple adaptation law. To improve the efficiency of a system in the constant torque region, the
control system incorporates the maximum torque per ampere (MTPA) algorithm. The stability of the nonlinear sliding surface is
guaranteed by Lyapunov stability theory. Moreover, a simple sliding mode observer is used to estimate the load torque and
system uncertainties. The effectiveness of the proposed nonlinear SMC scheme is verified using comparative experimental
results of the linear SMC scheme when the speed reference and load torque change under system uncertainties. From these
experimental results, the proposed nonlinear SMC method reveals a faster transient response, smaller steady-state speed error,
and less sensitivity to system uncertainties than the linear SMC method
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2016-02-08T06:15:59Z
No. of bitstreams: 2
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-PAPER10_A_Nonlinear_SMC.pdf: 660125 bytes, checksum: cb06e81351b25d39cc550325308b9ad2 (MD5)
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Previous issue date: 2015
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Interior Permanent Magnet Synchronous Motor
Nonlinear Sliding Surface
Sliding Mode Controller
Sliding Mode Observer
Speed Control
System Uncertainties
A Nonlinear Sliding Mode Controller for IPMSM Drives with an Adaptive Gain Tuning Rule
Article
oai:nur.nu.edu.kz:123456789/11782018-08-15T03:49:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Asl, Hamed Jabbari
Do, Ton Duc
2016-02-08T06:25:16Z
2016-02-08T06:25:16Z
2015
Hamed Jabbari Asl, Ton Duc Do; 2015; Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle; Mathematical Problems in Engineering
http://nur.nu.edu.kz/handle/123456789/1178
This paper proposes an image-based visual servo (IBVS) controller for the 3D translational
motion of the quadrotor unmanned aerial vehicle (UAV). The main purpose of this paper is to
provide asymptotic stability for vision-based tracking control of the quadrotor in the presence
of uncertainty in the dynamic model of the system. The aim of the paper also includes the use
of
ow of image features as the velocity information to compensate for the unreliable linear
velocity data measured by accelerometers. For this purpose, the mathematical model of the
quadrotor is presented based on the optic
ow of image features which provides the possibility
of designing a velocity-free IBVS controller with considering the dynamics of the robot. The
image features are de ned from a suitable combination of perspective image moments without
using the model of the object. This property allows the application of the proposed controller
in unknown places. The controller is robust with respect to the uncertainties in the transla-
tional dynamics of the system associated with the target motion, image depth and external
disturbances. Simulation results and a comparison study are presented which demonstrate the
e ectiveness of the proposed approach.
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Vision-based control
quadrotor
UAV
optic flow
robust control
IBVS
Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle
Article
oai:nur.nu.edu.kz:123456789/11822018-08-15T03:49:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Do, Ton Duc
Amin, Faiz Ul
Noh, Yeongil
Kim, Myeong Ok
Yoon, Jungwon
2016-02-08T07:47:46Z
2016-02-08T07:47:46Z
2016
Ton Duc Do, Faiz Ul Amin, Yeongil Noh, Myeong Ok Kim, Jungwon Yoon; 2015; Functionalized Magnetic Force Enhances Magnetic Nanoparticle Guidance: From Simulation to Crossing of the Blood-Brain Barrier in vivo; IEEE Transactions on Magnetics
http://nur.nu.edu.kz/handle/123456789/1182
In recent studies, we introduced the concept of functionalized magnetic force as a method to prevent nanoparticles from sticking to
vessel walls caused by extensive simulation and in vitro experiments involving a Y-shaped channel. In this study, we further
investigated the effectiveness of the functionalized magnetic force with a realistic 3D vessel through simulations. For the simulations,
we considered a more realistic continuous injection of particles with different magnetic forces and frequencies. Based on the results
from our simulation studies, we performed in vivo mice experiments to evaluate the effectiveness of using a functionalized magnetic
force to aid magnetic nanoparticles (MNPs) in crossing the blood-brain barrier (BBB). To implement the functionalized magnetic
force, we developed an electromagnetic actuator regulated by a programmable direct current (DC) power supply. Our results indicate
that a functionalized magnetic field can effectively prevent MNPs from sticking, and also guide them across the BBB. We used 770-nm
fluorescent carboxyl MNPs in this study. Following intravenous administration of MNPs into mice, we applied an external magnetic
field (EMF) to mediate transport of the MNPs across the BBB and into the brain. Furthermore, we evaluated the differential effects of
functionalized magnetic fields (0.25, 0.5, and 1 Hz) and constant magnetic fields on the transport of MNPs across the BBB. Our results
showed that a functionalized magnetic field is more effective than a constant magnetic field in the transport and uptake of MNPs
across the BBB in mice. Specifically, applying a functionalized magnetic field with a 3 A current and 0.5 Hz frequency mediated the
greatest transport and uptake of MNPs across the BBB in mice
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2016-02-08T07:47:46Z
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Blood-brain barrier
In vivo experiment
Mice
Targeted drug delivery
Electromagnetic actuation system
Simulation
Functionalized Magnetic Force Enhances Magnetic Nanoparticle Guidance: From Simulation to Crossing of the Blood-Brain Barrier in vivo
Article
oai:nur.nu.edu.kz:123456789/11852018-08-15T03:50:24Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Do, Ton Duc
Choi, Han Ho
Jung, Jin-Woo
2016-02-08T08:17:45Z
2016-02-08T08:17:45Z
2011
Ton Duc Do, Han Ho Choi, Jin-Woo Jung; 2011; SDRE-Based Near Optimal Control System Design for PM Synchronous Motor; IEEE
http://nur.nu.edu.kz/handle/123456789/1185
This paper presents a nonlinear optimal speed
controller based on a state-dependent Riccati equation (SDRE)
for permanent magnet synchronous motor (PMSM). An SDREbased
near optimal load torque observer is also proposed to
provide the load torque information for the controller. In both
designs, the stability is analytically proven and Taylor series
method is used to find an approximate solution because the
SDRE cannot be directly solved. The SDRE-based optimal
controller and observer can ensure better control performance
such as no overshoot and fast transient response in speed
tracking than the linear conventional controllers such as LQ
regulator and PI controller even under the variations of the
model parameters and load torque. The proposed SDRE-based
control strategy is implemented on a PMSM testbed using
TMS320F28335 DSP. The simulation and experimental results
are given to prove the feasibility of the proposed control scheme
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Nonlinear control
observer
optimal control
permanent magnet synchronous motor
speed control
state-dependent Riccati equation
Taylor series method
SDRE-Based Near Optimal Control System Design for PM Synchronous Motor
Article
oai:nur.nu.edu.kz:123456789/11862018-08-15T03:49:52Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Do, Ton Duc
Choi, Han Ho
Jung, Jin-Woo
2016-02-08T08:36:07Z
2016-02-08T08:36:07Z
2015
Ton Duc Do, Han Ho Choi, Jin-Woo Jung; 2014; θ-D Approximation Technique for Nonlinear Optimal Speed Control Design of Surface-Mounted PMSM Drives; IEEE/ASME TRANSACTIONS ON MECHATRONICS
http://nur.nu.edu.kz/handle/123456789/1186
This paper proposes nonlinear optimal controller
and observer schemes based on a θ-D approximation approach
for surface-mounted permanent magnet synchronous motors
(PMSMs). By applying the θ-D method in both the controller
and observer designs, the unsolvable Hamilton–Jacobi–Bellman
equations are switched to an algebraic Riccati equation and statedependent
Lyapunov equations (SDLEs). Then, through selecting
the suitable coefficient matrices, the SDLEs become algebraic, so
the complex matrix operation technique, i.e., the Kronecker product
applied in the previous papers to solve the SDLEs is eliminated.
Moreover, the proposed technique not only solves the problem of
controlling the large initial states, but also avoids the excessive
online computations. By utilizing a more accurate approximation
method, the proposed control system achieves superior control performance
(e.g., faster transient response, more robustness under
the parameter uncertainties and load torque variations) compared
to the state-dependent Riccati equation-based control method and
conventional PI controlmethod. The proposed observer-based control
methodology is tested with an experimental setup of a PMSM
servo drive using a Texas Instruments TMS320F28335 DSP. Finally,
the experimental results are shown for proving the effectiveness
of the proposed control approach
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No. of bitstreams: 2
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ThetaD_TMECH_2015.pdf: 777038 bytes, checksum: 47effec2054f712fc962c966a458ca8a (MD5)
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Hamilton–Jacobi–Bellman equation
nonlinear optimal control
nonlinear optimal observer
permanent magnet synchronous motor
speed control
θ-D Approximation Technique for Nonlinear Optimal Speed Control Design of Surface-Mounted PMSM Drives
Article
oai:nur.nu.edu.kz:123456789/11872018-08-15T03:49:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1166
Do, Ton Duc
Noh, Yeongil
Kim, Myeong Ok
Yoon, Jungwon
2016-02-08T08:48:06Z
2016-02-08T08:48:06Z
2015
Ton Duc Do, Yeongil Noh, Myeong Ok Kim, Jungwon Yoon; 2015; An Electromagnetic Steering System for Magnetic Nanoparticle Drug Delivery
http://nur.nu.edu.kz/handle/123456789/1187
Targeted delivery of pharmaceutical agents to
the brain using magnetic nanoparticles (MNPs) is an
efficient technique to transport molecules to disease
locations. MNPs can cross the blood–brain barrier (BBB)
and can be concentrated at a specific location in the brain
using non-invasive electromagnetic forces. The proposed
EMA consists of two coil-core system. The cores are
added in the center of each coil to concentrate the flux in
the region of interest. The EMA can enhance the gradient
field 10 times compared to only coil system and generate
the maximum magnetic field of 160 mT and 5.6 T/m. A
12-kW direct-current power supply was used to generate
sufficient magnetic forces on the MNPs by regulating the
input currents of the coils. Effective guidance of MNPs is
demonstrated via simulations and experiments using
800-nm-diameter MNPs in a Y-shaped channel. The
developed EMA system has high potentials to increase
BBB crossing of MNPs for efficient drug targeting to
brain regions
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2016-02-08T08:48:06Z
No. of bitstreams: 2
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Previous issue date: 2015
en
Attribution-NonCommercial-ShareAlike 3.0 United States
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Drug delivery
electromagnetic actuator
magnetic drug targeting
magnetic nanoparticles
An Electromagnetic Steering System for Magnetic Nanoparticle Drug Delivery
Article
oai:nur.nu.edu.kz:123456789/21962018-08-15T03:50:08Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Baimyshev, Almaskhan
Zhakatayev, Altay
Varol, Huseyin Atakan
2017-01-06T10:49:52Z
2017-01-06T10:49:52Z
2016
Baimyshev, A., Zhakatayev, A., & Varol, H. A. (2016). Augmenting variable stiffness actuation using reaction wheels. IEEE Access, 4, 4618-4628. [7552463]. DOI: 10.1109/ACCESS.2016.2602704
http://nur.nu.edu.kz/handle/123456789/2196
A branch of robotics, variable impedance actuation, along with one of its subfields variable stiffness actuation (VSA), is gaining momentum recently. There have been many thorough studies earlier in the design and recently in the control of these systems. The performance of these systems is mainly limited by their physical constraints, such as actuator nominal torque and maximum elastic element stiffness. This paper discusses the integration of reaction wheels to VSA systems and using reactive torques to improve the performance of the combined system. Since the compliant nature of VSA mechanisms is often associated with cyclic motion, reactive torques can be used to amplify the robot motion and accumulate more energy in the elastic elements in a given period of time. After presenting our modeling and control framework for reaction wheel-integrated VSA robots, we benchmark the performance of a reaction wheel-integrated VSA system using an explosive ball throwing task. Specifically, extensive simulation and real-world experiments are conducted with three different configurations: VSA-only, reaction wheel-only, and reaction wheel-integrated VSA. The results of these experiments show the benefits of reaction wheel-integrated VSA robots compared with the two other configurations.
Submitted by gulnur ussenova (gulnur.ussenova@nu.edu.kz) on 2017-01-06T10:49:52Z
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Almaskhan Baimyshev, Altay Zhakatayev, Huseyin Atakan Varol.pdf: 16966 bytes, checksum: 04ad2e6eb068e3ea81ba0c5d7c7e03fd (MD5)
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Almaskhan Baimyshev, Altay Zhakatayev, Huseyin Atakan Varol.pdf: 16966 bytes, checksum: 04ad2e6eb068e3ea81ba0c5d7c7e03fd (MD5)
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IEEE Access
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manipulator dynamics
model predictive control
reaction wheels
robot control
variable impedance actuation
Augmenting variable stiffness actuation using reaction wheels
Article
oai:nur.nu.edu.kz:123456789/22232018-08-15T03:50:26Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Sandygulova, Anara
O’Hare, Gregory M. P.
2017-01-09T06:12:49Z
2017-01-09T06:12:49Z
2015
Sandygulova, A., & O’Hare, G. M. P. (2015). Children’s perception of synthesized voice: Robot’s gender, age and accent. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 9388, 594-602. DOI: 10.1007/978-3-319-25554-5_59
http://nur.nu.edu.kz/handle/123456789/2223
This paper presents a study of children’s responses to the perceived gender and age of a humanoid robot Nao that communicated with four genuine synthesized child voices. This research investigates children’s preferences for an English accent. Results indicate that manipulations of robot’s age and gender are successful for all voice conditions, however some voices are preferred over the others by children in Ireland.
Submitted by gulnur ussenova (gulnur.ussenova@nu.edu.kz) on 2017-01-09T06:12:49Z
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Anara Sandygulova, Gregory M P O’Hare.pdf: 68648 bytes, checksum: 9491f26ff9b626c0cb264ee6bf469f8a (MD5)
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Anara Sandygulova, Gregory M P O’Hare.pdf: 68648 bytes, checksum: 9491f26ff9b626c0cb264ee6bf469f8a (MD5)
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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
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Child-robot interaction
Human-robot interaction
perception
robot
voice
Children’s perception of synthesized voice: Robot’s gender, age and accent
Article
oai:nur.nu.edu.kz:123456789/23262018-08-15T03:50:00Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Folgheraiter, Michele
2017-02-20T08:21:50Z
2017-02-20T08:21:50Z
2016
Michele Folgheraiter; 2016; A combined B-Spline-Neural-Network and ARX Model for Online Identifcation of Nonlinear Dynamic Actuation Systems; Neurocomputing; http://nur.nu.edu.kz/handle/123456789/2326
http://nur.nu.edu.kz/handle/123456789/2326
This paper presents a block oriented nonlinear dynamic model suitable for
online identi cation.The model has the well known Hammerstein architecture
where as a novelty the nonlinear static part is represented by a B-spline
neural network (BSNN), and the linear static one is formalized by an auto
regressive exogenous model (ARX). The model is suitable as a feed-forward
control module in combination with a classical feedback controller to regulate
velocity and position of pneumatic and hydraulic actuation systems
which present non stationary nonlinear dynamics. The adaptation of both
the linear and nonlinear parts is taking place simultaneously on a patterby-
patter basis by applying a combination of error-driven learning rules and
the recursive least squares method. This allows to decrease the amount of
computation needed to identify the model's parameters and therefore makes
the technique suitable for real time applications. The model was tested with
a silver box benchmark and results show that the parameters are converging
to a stable value after 1500 samples, equivalent to 7.5s of running time.
The comparison with a pure ARX and BSNN model indicates a substantial
improvement in terms of the RMS error, while the comparison with alternative
non linear dynamic models like the NNOE and NNARX, having the
same number of parameters but greater computational complexity, shows
comparable performances.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2017-02-20T08:21:50Z
No. of bitstreams: 2
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A combined B-spline-neural-network and ARX model for online identification of nonlinear dynamic actuation systems_Neurocomputing.pdf: 2131364 bytes, checksum: bec7529a8cbe0db7f49e5b82d4095bf5 (MD5)
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A combined B-spline-neural-network and ARX model for online identification of nonlinear dynamic actuation systems_Neurocomputing.pdf: 2131364 bytes, checksum: bec7529a8cbe0db7f49e5b82d4095bf5 (MD5)
Previous issue date: 2016
en
Neurocomputing
Attribution-NonCommercial-ShareAlike 3.0 United States
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Hammerstein Model
B-Spline Neural Network
Nonlinear Dynamic Model
A combined B-Spline-Neural-Network and ARX Model for Online Identi cation of Nonlinear Dynamic Actuation Systems
Article
oai:nur.nu.edu.kz:123456789/23272018-08-15T03:50:10Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Folgheraiter, Michele
Keldibek, Amina
Aubakir, Bauyrzhan
Salakchinov, Shyngys
2017-02-20T09:01:22Z
2017-02-20T09:01:22Z
2016-11
Folgheraiter, Michele; Keldibek, Amina; Aubakir, Bauyrzhan; Salakchinov, Shyngys; 2016; Development of a neuromorphic control system for a lightweight humanoid robot; The International Conference on Information Technology and Digital Applications; http://nur.nu.edu.kz/handle/123456789/2327
http://nur.nu.edu.kz/handle/123456789/2327
A neuromorphic control system for a lightweight middle size humanoid biped robot built using 3D printing techniques is proposed. The control architecture consists of different modules capable to learn and autonomously reproduced complex periodic trajectories. Each modul is represented by a chaotic Recurrent Neural Network (RNN) with a core of dynamic neurons randomly and sparsely connected with fixed synapses . A set of read-out units with adaptable synapses realize a linear combination of the neurons output in order to reproduce the target signals. Different experiments were conducted to find out the optimal initialization for the RNN`s parameters. From simulation results, using normalized signals obtained from the robot model, it was proven that all the instances of the control module can learn and reproduce the target trajectories with an average RMS error of 1.63 and variance 0.74
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2017-02-20T09:01:22Z
No. of bitstreams: 2
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ICITDA_2016_Folgheraiter.pdf: 6962746 bytes, checksum: 7f4cd94025016c4a38e0832cf52a14b7 (MD5)
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Previous issue date: 2016-11
en
The International Conference on Information Technology and Digital Applications
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Development of a neuromorphic control system for a lightweight humanoid robot
Article
oai:nur.nu.edu.kz:123456789/23312018-08-15T03:50:07Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Folgheraiter, Michele
Gini, Giuseppina
Vercesi, Dario
2017-02-21T05:59:04Z
2017-02-21T05:59:04Z
2008-08
Michele Folgheraiter, Giuseppina Gini, Dario Vercesi; 2008; A Multi-Modal haptic interface for Virtual Reality and Robotics; Journal of Intelligent and Robotic Systems; http://nur.nu.edu.kz/handle/123456789/2331
http://nur.nu.edu.kz/handle/123456789/2331
In this paper we present an innovative haptic device that combines the
electro-tactile stimulation with the force and visual feedbacks in order to
improve the perception of a virtual world. We discuss about the sensation
evoked in a user by the haptic, force, and visual interface provided by this
device, implemented as a special glove, equipped with sensors and actua-
tors connected to a PC. The techniques used to recreate tactile and kines-
thetic sensations are based on an innovative use of cutaneous stimulation
integrated with actuators and 3D modelling techniques. We discuss about
the specificity of haptic interfaces, their controllers, their open problems.
We present results about generating the sensation of touching virtual ob-
jects with our device. Experiments show also that, using a multi-modal
sensorial pattern of stimulation, the subject perceives more realistically
the virtual object. We discuss about possible use of the same technique
as a way to interface intelligent robots.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2017-02-21T05:59:04Z
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A Multi-Modal haptic device for Applications in Virtual Reality and Robotics.pdf: 1355207 bytes, checksum: 37386253049538c8b7fef6e377438d0b (MD5)
Previous issue date: 2008-08
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Journal of Intelligent and Robotic Systems
Attribution-NonCommercial-ShareAlike 3.0 United States
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Virtual Reality
Electro-tactile Stimulation
Haptic Devices
Robotic Grasp
Haptic display
A Multi-Modal haptic interface for Virtual Reality and Robotics
Article
oai:nur.nu.edu.kz:123456789/23332018-08-15T03:50:08Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Scarfogliero, Umberto
Folgheraiter, Michele
Gini, Giuseppina
2017-02-22T10:54:39Z
2017-02-22T10:54:39Z
2004
Umberto Scarfogliero, Michele Folgheraiter, Giuseppina Gini; 2004; ADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR; 4th IEEE/RAS International Conference on Humanoid Robots; http://nur.nu.edu.kz/handle/123456789/2333
http://nur.nu.edu.kz/handle/123456789/2333
This paper focuses on the study and design of an anthropomorphical
light biped robot. The robot presents a
total of twelve degree of freedom that will permit it to
act a walk in a three dimensional space, right now tested
only in simulation. Each joint resemble the functionalities
of the human articulation and is moved by tendon
connected with actuator located in the robot’s pelvis. We
implemented and tested an innovative actuator that permits
to set the joint stiffness in real time maintaining a
simple position control paradigm. The controller is able
to estimate the external load measuring the spring deflection
and demonstrated to be particularly robust respect
to system uncertainties, such as inertia value changes.
Comparing the resulting control law with existing models
we found several similarities with the Equilibrium Point
Theory.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2017-02-22T10:54:39Z
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ADVANCED STEPS IN BIPED ROBOTICS INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR.pdf: 3658184 bytes, checksum: 01586298c6af0906a92c5564d1d0c718 (MD5)
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ADVANCED STEPS IN BIPED ROBOTICS INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR.pdf: 3658184 bytes, checksum: 01586298c6af0906a92c5564d1d0c718 (MD5)
Previous issue date: 2004
en
4th IEEE/RAS International Conference on Humanoid Robots
Attribution-NonCommercial-ShareAlike 3.0 United States
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Humanoid Robotics
Biped
Joint Stiffness Control
Equilibrium Point Hypothesis
ADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR
Article
oai:nur.nu.edu.kz:123456789/23342018-08-15T03:50:08Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Folgheraiter, Michele
Keldibek, Amina
Aubakir, Bauyrzhan
Salakchinov, Shyngys
Gini, Giuseppina
Mauro Franchi, Alessio
2017-02-22T11:06:13Z
2017-02-22T11:06:13Z
2016
Michele Folgheraiter, Amina Keldibek, Bauyrzhan Aubakir, Shyngys Salakchinov, Giuseppina Gini, Alessio Mauro Franchi; 2016; A Neuromorphic Motion Controller for a Biped Robot; Human Performance and Robotics, Satellite Workshop of IEEE Humanoid 2016; http://nur.nu.edu.kz/handle/123456789/2334
http://nur.nu.edu.kz/handle/123456789/2334
Here we propose a neuromorphic control system for a
medium size humanoid robot under development in the
Robotics and Mechatronics Department at Nazarbayev University
and in cooperation with Politecnico di Milano.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2017-02-22T11:06:13Z
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Abstract_FolgheraiterHumanoid2016_W5.pdf: 6272233 bytes, checksum: 09137d6fe7163ee817a2b128218de13d (MD5)
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Previous issue date: 2016
en
Human Performance and Robotics, Satellite Workshop of IEEE Humanoid 2016
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humanoid robot
A Neuromorphic Motion Controller for a Biped Robot
Article
oai:nur.nu.edu.kz:123456789/23352018-08-15T03:50:07Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Folgheraiter, Michele
2017-02-22T11:38:54Z
2017-02-22T11:38:54Z
2014
Michele Folgheraiter; 2014; Actuation Design Methodology for Haptic Interfaces and Rehabilitation Systems; IEEE 8th International Conference on Application of Information and Communication Technologies; http://nur.nu.edu.kz/handle/123456789/2335
http://nur.nu.edu.kz/handle/123456789/2335
This paper introduces a methodology and a software
framework intended to optimize and speed up the design process
of a haptic interface or a rehabilitation system. Starting from
an initial mechanical design the procedure allows to export the
kinematic and dynamic properties of the robotic system in a
simulation environment. The software receives as additional input
the Cartesian or joints trajectories and generates as output the
required torques at the joints. From the recorded measurements
the program extracts the torque ranges necessary to choose a
suitable actuation system for the robot. The possibility to run
the simulation in batch modality allows also to define different
optimization techniques that may be used to reduce the overall
system weight or increase its payload
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2017-02-22T11:38:54Z
No. of bitstreams: 2
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Actuation Design Methodology for Haptic Interfaces and Rehabilitation Systems_AICT2014.pdf: 1386253 bytes, checksum: dd55cf46d4765a29d61ad6a8250d25f8 (MD5)
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Actuation Design Methodology for Haptic Interfaces and Rehabilitation Systems_AICT2014.pdf: 1386253 bytes, checksum: dd55cf46d4765a29d61ad6a8250d25f8 (MD5)
Previous issue date: 2014
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IEEE 8th International Conference on Application of Information and Communication Technologies
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Actuation System Design
Actuation System Optimization
Haptic interface
Rehabilitation System
Actuation Design Methodology for Haptic Interfaces and Rehabilitation Systems
Article
oai:nur.nu.edu.kz:123456789/23372018-08-15T03:50:10Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Folgheraiter, Michele
Gini, Giuseppina
2017-02-22T11:56:37Z
2017-02-22T11:56:37Z
2014
Michele Folgheraiter, Giuseppina Gini; 2014; A Chaotic Neural Network as Motor Path Generator for Mobile Robotics; IEEE International Conference on Robotics and Biomimetics; http://nur.nu.edu.kz/handle/123456789/2337
http://nur.nu.edu.kz/handle/123456789/2337
This work aims at developing a motor path
generator for applications in mobile robotics based on a
chaotic neural network. The computational paradigm inspired
by the neural structure of microcircuits located in the human
prefrontal cortex is adapted to work in real-time and used
to generate the joints trajectories of a lightweight quadruped
robot. The recurrent neural network was implemented in
Matlab and a software framework was developed to test the
performances of the system with the robot dynamic model.
Preliminary results demonstrate the capability of the neural
controller to learn period signals in a short period of time
allowing adaptation during the robot operation
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz ) on 2017-02-22T11:56:37Z
No. of bitstreams: 2
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Previous issue date: 2014
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IEEE International Conference on Robotics and Biomimetics
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Recurrent Neural Network RNN
Dynamic Neural Network
Control Path Generator
Lightweight Quadruped Robot
Neurodynamics
A Chaotic Neural Network as Motor Path Generator for Mobile Robotics
Article
oai:nur.nu.edu.kz:123456789/27532018-08-15T03:50:14Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Zhakatayev, Altay
Rubagotti, Matteo
Varol, Huseyin Atakan
2017-11-08T04:45:18Z
2017-11-08T04:45:18Z
2015-04-10
Zhakatayev Altay et al.(>2), 2015(April 10), Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control, IEEE Access, vol.3
http://nur.nu.edu.kz/handle/123456789/2753
Variable stiffness actuation has recently attracted great interest in robotics, especially in
areas involving a high degree of human robot interaction. After investigating various design approaches for variable stiffness actuated (VSA) robots, currently the focus is shifting to the control of these systems. Control of VSA robots is challenging due to the intrinsic nonlinearity of their dynamics and the need to satisfy constraints on input and state variables.Contrary to the partially open-loop state-of-the-art approaches, in this paper, we present a close-loop control framework for VSA robots leveraging recent increases in computational resources and advances in optimization algorithms. In particular, we generate reference trajectories by means of open-loop optimal control, and track these trajectories via nonlinear model predictive control in a closed-loop manner. In order to show the advantages of our proposed scheme with respect to the previous (partially open-loop) ones, extensive simulation and real-world experiments were conducted using a two link planar manipulator for a ball throwing task. The results of these experiments indicate that the closed-loop scheme outperforms the partially open loop one due to its ability to compensate for model uncertainties and external disturbances, while satisfying the imposed constraints.
Submitted by Aigerim Akhatayeva (aigerim.akhatayeva@nu.edu.kz) on 2017-11-07T06:39:35Z
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Previous issue date: 2015-04-10
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IEEE Access
Open Access - the content is available to the general public
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robot manipulation
variable stiffness actuation
model predictive control
optimization algorithms
embedded optimization
Research Subject Categories::NATURAL SCIENCES::Physics
Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control
Article
oai:nur.nu.edu.kz:123456789/27522018-08-15T03:50:27Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Saudabayev, Artur
Kungozhin, Farabi
Nurseitov, Damir
Varol, Huseyin Atakan
2017-11-08T04:45:08Z
2017-11-08T04:45:08Z
2015-03-22
Saudabayev Artur et al.(>3), 2015(22 March), Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor, Journal of Sensors, Volume 2015, Article ID 425732, 14 pages.
http://dx.doi.org/10.1155/2015/425732
http://nur.nu.edu.kz/handle/123456789/2752
The performance of a mobile robot can be improved by utilizing different locomotion modes in various terrain conditions. This creates the necessity of having a supervisory controller capable of recognizing different terrain types and changing the locomotion mode of the robot accordingly. This work focuses on the locomotion strategy selection problem for a hybrid legged wheeled mobile robot. Supervisory control of the robot is accomplished by the terrain recognizer, which classifies depth images obtained from a commercial time of flight depth sensor and selects different locomotion mode subcontrollers based on the recognized terrain type. For the terrain recognizer, a database is generated consisting of five terrain classes (Uneven, LevelGround, StairUp, StairDown, and Nontraversable). Depth images are enhanced using confidence map based filtering. The accuracy of the terrain classification using Support VectorMachine classifier for the testing database in five-class terrain recognition problem is 97%. Real-world experiments assess the locomotion abilities of the quadruped and the capability of the terrain recognizer in real-time settings. The results of these experiments show depth images processed in real time using machine learning algorithms can be used for the supervisory control of hybrid robots with legged andwheeled locomotion capabilities.
Submitted by Aigerim Akhatayeva (aigerim.akhatayeva@nu.edu.kz) on 2017-11-07T08:38:54Z
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Previous issue date: 2015-03-22
en
Journal of Sensors
Open Access - the content is available to the general public
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
mobile robot
locomotion modes
robot
Support Vector Machine
hybrid
Flight Depth Sensor
Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor
Article
oai:nur.nu.edu.kz:123456789/27512018-08-15T03:50:14Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Saudabayev, Artur
Varol, Huseyin Atakan
2017-11-08T04:44:57Z
2017-11-08T04:44:57Z
2015-10-12
Saudabayev Artur et al.(>1), 2015(October 12), Sensors for Robotic Hands: A Survey of State of the Art, IEEE Access, vol.3,
2169-3536
DOI:10.1109/ACCESS.2015.2482543
http://nur.nu.edu.kz/handle/123456789/2751
Recent decades have seen significant progress in the field of artificial hands. Most of the
surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors.We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands.
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Previous issue date: 2015-10-12
en
IEEE Access
Open Access - the content is available to the general public
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
artificial hands
prosthetics
industrial robotics
robotic hands
robot end effectors
sensors
robot sensing
review
Sensors for Robotic Hands: A Survey of State of the Art
Article
oai:nur.nu.edu.kz:123456789/28192018-08-15T03:50:18Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Do, Ton Duc
2017-11-14T11:41:43Z
2017-11-14T11:41:43Z
2017-02-25
Do Ton Duc, 2017(February 25), Disturbance Observer-Based Fuzzy SMC of WECSs Without Wind Speed Measurement, IEEE Access, vol.5
2169-3536
http://nur.nu.edu.kz/handle/123456789/2819
The main role of control system for wind turbines is tracking the optimal power via regulating the rotor speed of the generator. A high performance controller, which can deal with unmodeled dynamics, uncertainties, and external disturbance, can effectively increase the captured power from the wind. This paper focuses on designing an advanced sliding mode control (SMC) scheme for wind energy conversion systems (WECSs). As the proposed SMC scheme includes a nonlinear disturbance observer (DOB) for estimating aerodynamic torque and wind speed, there is no requirement to measure aerodynamic torque or wind speed. The proposed control scheme considers not only the uncertainties and disturbance but also the random nature of wind speed and intrinsic nonlinear behavior of the WESCs. Via designing sliding surface based on estimated information, the proposed control system can avoid disadvantages associated with the robust control techniques. To totally remove chattering as well as improving other control criteria, a fuzzybased variable switching gain scheme is introduced. Comparative simulation results are shown to verify the effectiveness and superior performance of the proposed DOB-based fuzzy SMC scheme.
Submitted by Aigerim Akhatayeva (aigerim.akhatayeva@nu.edu.kz) on 2017-11-14T10:35:07Z
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Disturbance.pdf: 9343490 bytes, checksum: 040e0e2e5d3b7cb1c04b7d9671d35f60 (MD5)
Previous issue date: 2017-02-25
en
IEEE Access
Open Access - the content is available to the general public
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
disturbance observer (DOB)
fuzzy control
sliding mode control (SMC)
uncertainties
wind energy conversion system (WECS)
Research Subject Categories::TECHNOLOGY::Bioengineering
Disturbance Observer-Based Fuzzy SMC of WECSs Without Wind Speed Measurement
Article
oai:nur.nu.edu.kz:123456789/29782018-08-15T03:50:19Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Soleimani, Hossein
Tomasin, Stefano
Alizadeh, Tohid
Shojafar, Mohammad
Hossein, Soleimani
2017-12-21T03:25:26Z
2017-12-21T03:25:26Z
2017-12-01
DOI:10.1016/j.phycom.2017.09.005
Hossein Soleimani, Stefano Tomasin, Tohid Alizadeh, Mohammad Shojafar, Cluster-head based feedback for simplified time reversal prefiltering in ultra-wideband systems, In Physical Communication, Volume 25, Part 1, 2017, Pages 100-109
18744907
https://www.sciencedirect.com/science/article/pii/S1874490716302294
http://nur.nu.edu.kz/handle/123456789/2978
Abstract Time-reversal prefiltering (TRP) technique for impulse radio (IR) ultra wide-band (UWB) systems requires a large amount of feedback to transmit the channel impulse response from the receiver to the transmitter. In this paper, we propose a new feedback design based on vector quantization. We use a machine learning algorithm to cluster the estimated channels into several groups and to select the channel cluster heads (CCHs) for feedback. In particular, CCHs and their labels are recorded at both side of the UWB transceivers and the label of the most similar CCH to the estimated channel is fed back to the transmitter. Finally, the TRP is applied using the feedback CCH. The proposed digital feedback provides three main advantages: (1) it significantly reduces the dedicated bandwidth required for feedback; (2) it considerably improves the speed of transceivers; and, (3) it is robust to noise in the feedback channel since few bytes are required to send the codes that can be heavily error protected. Numerical results on standard UWB channel models are discussed, showing the advantage of the proposed solution.
Submitted by Saule Sadykova (ssadykova@nu.edu.kz) on 2017-12-21T03:23:43Z
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Previous issue date: 2017-12-01
en
Physical Communication
Physical Communication
Ultra wide-band (UWB)
Digital feedback
Clustering channels
IEEE 802.15.SG3 channel model
Prefiltering
Machine learning
Cluster-head based feedback for simplified time reversal prefiltering in ultra-wideband systems
Article
© 2017 Elsevier B.V. All rights reserved.10.1016/j.phycom.2017.09.0051-s2.0-S1874490716302294S1874-4907(16)30229-485030175017252017-12-01December 20171001090falsefalseTime-reversal prefiltering (TRP) technique for impulse radio (IR) ultra wide-band (UWB) systems requires a large amount of feedback to transmit the channel impulse response from the receiver to the...Journalscienceoai:nur.nu.edu.kz:123456789/30082018-08-15T03:50:21Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Abibullaev, Berdakh
An, Jinung
Jin, Sang-Hyeon
Lee, Seung Hyun
Moon, Jeon Il
Berdakh, Abibullaev
2017-12-21T06:22:35Z
2017-12-21T06:22:35Z
2013-12-01
DOI:10.1016/j.medengphy.2013.08.009
Berdakh Abibullaev, Jinung An, Sang-Hyeon Jin, Seung Hyun Lee, Jeon Il Moon, Minimizing inter-subject variability in fNIRS-based brain–computer interfaces via multiple-kernel support vector learning, In Medical Engineering & Physics, Volume 35, Issue 12, 2013, Pages 1811-1818
13504533
https://www.sciencedirect.com/science/article/pii/S1350453313001835
http://nur.nu.edu.kz/handle/123456789/3008
Abstract Brain signal variation across different subjects and sessions significantly impairs the accuracy of most brain–computer interface (BCI) systems. Herein, we present a classification algorithm that minimizes such variation, using linear programming support-vector machines (LP-SVM) and their extension to multiple kernel learning methods. The minimization is based on the decision boundaries formed in classifiers’ feature spaces and their relation to BCI variation. Specifically, we estimate subject/session-invariant features in the reproducing kernel Hilbert spaces (RKHS) induced with Gaussian kernels. The idea is to construct multiple subject/session-dependent RKHS and to perform classification with LP-SVMs. To evaluate the performance of the algorithm, we applied it to oxy-hemoglobin data sets acquired from eight sessions and seven subjects as they performed two different mental tasks. Results show that our classifiers maintain good performance when applied to random patterns across varying sessions/subjects.
Submitted by Saule Sadykova (ssadykova@nu.edu.kz) on 2017-12-21T06:21:09Z
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Previous issue date: 2013-12-01
en
Medical Engineering & Physics
Medical Engineering & Physics
Brain–computer interfaces
Functional near-infrared spectroscopy
Inter-subject variability
Support vector machines
RKHS
Multiple kernel learning
Minimizing inter-subject variability in fNIRS-based brain–computer interfaces via multiple-kernel support vector learning
Article
Copyright © 2013 IPEM. Published by Elsevier Ltd. All rights reserved.10.1016/j.medengphy.2013.08.0091-s2.0-S1350453313001835S1350-4533(13)00183-5848895935902405498135122013-12-01December 2013181118180falsefalseBrain signal variation across different subjects and sessions significantly impairs the accuracy of most brain–computer interface (BCI) systems. Herein, we present a classification algorithm that minimizes...Journalscienceoai:nur.nu.edu.kz:123456789/30132018-08-15T03:50:21Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Abibullaev, Berdakh
An, Jinung
Lee, Seung Hyun
Moon, Jeon Il
Berdakh, Abibullaev
2017-12-22T03:15:38Z
2017-12-22T03:15:38Z
2017-02-01
DOI:10.1016/j.measurement.2016.12.001
Berdakh Abibullaev, Jinung An, Seung Hyun Lee, Jeon Il Moon, Design and evaluation of action observation and motor imagery based BCIs using Near-Infrared Spectroscopy, In Measurement, Volume 98, 2017, Pages 250-261
02632241
https://www.sciencedirect.com/science/article/pii/S0263224116306996
http://nur.nu.edu.kz/handle/123456789/3013
Abstract The integration of Brain-Computer-Interfaces (BCI) into rehabilitation research is a promising approach that may substantially impact the rehabilitation success. Yet, there is still significant challenges that needs to be addressed before the BCI technology can be fully used effectively in a clinical setting as a neural prosthesis for motor impaired users. As it is still unknown whether the conventional BCI induction strategies that use different the types of stimuli and/or mental tasks induce cortical reorganization for disabled users. This paper presents a design and evaluation of a real-time Near-Infrared Spectroscopy (NIRS) based BCI protocol to control an external haptic device, and an interesting source of brain signals that may convey complementary information for inducing neuroplasticity. The protocol is based on the ideas derived from Mirror-based Therapy (MT) in which subjects not only perform literal motor imagery tasks but also combine their intents with visual action observation of a related motor imagery task. The NIRS-BCI system then commands a haptic device in real-time to move in opposing directions of leftward and rightward movement. We also compare the proposed protocol to the conventional limb motor imagery task and verify its efficacy with online decoding accuracies up to 94.99%. The initial validation of the experimental setup was done with seven healthy subjects. Nonetheless we contend that the design of the current NIRS-BCI method hold promise with patient populations for effective stroke rehabilitation therapy, because the beneficial effects of MT alone in post-stroke recovery has already been manifested in the literature.
Submitted by Saule Sadykova (ssadykova@nu.edu.kz) on 2017-12-22T03:14:10Z
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Previous issue date: 2017-02-01
en
Measurement
Measurement
Brain-computer interface
Near-infrared spectroscopy
Mirror therapy
Haptic device
PCA
Multiple support vector machines
Channel localization
BCI for neural rehabilitation
Design and evaluation of action observation and motor imagery based BCIs using Near-Infrared Spectroscopy
Article
© 2016 Elsevier Ltd. All rights reserved.10.1016/j.measurement.2016.12.0011-s2.0-S0263224116306996S0263-2241(16)30699-685006356576982017-02-01February 20172502610falsefalseThe integration of Brain-Computer-Interfaces (BCI) into rehabilitation research is a promising approach that may substantially impact the rehabilitation success. Yet, there is still significant challenges...Journalscienceoai:nur.nu.edu.kz:123456789/30442018-08-15T03:50:21Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1166
Oliveri, Alberto
Barcelli, Davide
Bemporad, Alberto
Genuit, Bart
Heemels, Maurice
Poggi, Tomaso
Rubagotti, Matteo
Storace, Marco
Alberto, Oliveri
2017-12-22T07:58:22Z
2017-12-22T07:58:22Z
2012-01-01
DOI:10.3182/20120823-5-NL-3013.00034
Alberto Oliveri, Davide Barcelli, Alberto Bemporad, Bart Genuit, Maurice Heemels, Tomaso Poggi, Matteo Rubagotti, Marco Storace, MOBY-DIC: A MATLAB Toolbox for Circuit-Oriented Design of Explicit MPC, In IFAC Proceedings Volumes, Volume 45, Issue 17, 2012, Pages 218-225
9783902823076
14746670
https://www.sciencedirect.com/science/article/pii/S1474667016314537
http://nur.nu.edu.kz/handle/123456789/3044
Abstract This paper describes a MATLAB Toolbox for the integrated design of Model Predictive Control (MPC) state-feedback control laws and the digital circuits implementing them. Explicit MPC laws can be designed using optimal and sub-optimal formulations, directly taking into account the specifications of the digital circuit implementing the control law (such as latency and size), together with the usual control specifications (stability, performance, constraint satisfaction). Tools for a-posteriori stability analysis of the closed-loop system, and for the simulation of the circuit in Simulink, are also included in the toolbox.
Submitted by Saule Sadykova (ssadykova@nu.edu.kz) on 2017-12-22T07:57:08Z
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Previous issue date: 2012-01-01
en
IFAC Proceedings Volumes
IFAC Proceedings Volumes
MOBY-DIC: A MATLAB Toolbox for Circuit-Oriented Design of Explicit MPC
Article
Copyright © 2012 IFAC. Published by Elsevier Ltd. All rights reserved.10.3182/20120823-5-NL-3013.000341-s2.0-S1474667016314537S1474-6670(16)31453-78486708874945174th IFAC Conference on Nonlinear Model Predictive Control2012-01-0120122182250falsefalseThis paper describes a MATLAB Toolbox for the integrated design of Model Predictive Control (MPC) state-feedback control laws and the digital circuits implementing them. Explicit MPC laws can be designed...Journalscienceoai:nur.nu.edu.kz:123456789/30502018-08-15T03:50:22Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Karimi, Navab
Ranjbarzadeh Kondrood, Ramin
Alizadeh, Tohid
Navab, Karimi
2017-12-22T08:43:40Z
2017-12-22T08:43:40Z
2017-09-01
DOI:10.1016/j.measurement.2017.05.009
Navab Karimi, Ramin Ranjbarzadeh Kondrood, Tohid Alizadeh, An intelligent system for quality measurement of Golden Bleached raisins using two comparative machine learning algorithms, In Measurement, Volume 107, 2017, Pages 68-76
02632241
https://www.sciencedirect.com/science/article/pii/S0263224117302877
http://nur.nu.edu.kz/handle/123456789/3050
Abstract In this research, an expert system is provided for measuring and recognizing the quality and purity of mixed (pure-impure) raisins using bulk raisins’ images. For this purpose, by utilizing a machine vision setup 1400 images of the raisins were captured in the several ranges of mixture (from 5 to 50%). Then, totally 146 textural features were obtained using four methods of gray-level histograms, gray level co-occurrence matrix (GLCM), gray level run-length (GLRM) matrix, and local binary pattern (LBP). Principal Components Analysis (PCA) was used in order to find the optimum features from the extracted features. Accordingly, Artificial Neural Network (ANN) and Support Vector Machine (SVM) were used for classifying the mixtures. In comparison to ANN, using top 50 features, SVM classifier had more efficient and accurate classification results (averagely 92.71%). The results of the proposed approach can be used in designing a system for purity and quality measuring of raisins.
Submitted by Saule Sadykova (ssadykova@nu.edu.kz) on 2017-12-22T08:42:07Z
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Previous issue date: 2017-09-01
en
Measurement
Measurement
Image processing
Golden Bleached Raisin (GBR)
Bulk textures
Textural features
Support Vector Machine
Artificial Neural Network
An intelligent system for quality measurement of Golden Bleached raisins using two comparative machine learning algorithms
Article
© 2017 Elsevier Ltd. All rights reserved.10.1016/j.measurement.2017.05.0091-s2.0-S0263224117302877S0263-2241(17)30287-7850191306931072017-09-01September 201768760falsefalseIn this research, an expert system is provided for measuring and recognizing the quality and purity of mixed (pure-impure) raisins using bulk raisins’ images. For this purpose, by utilizing a machine...Journalscienceoai:nur.nu.edu.kz:123456789/33832018-08-15T21:00:29Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Kappassov, Zhanat
Corrales, Juan-Antonio
Perdereau, Véronique
2018-08-15T08:44:55Z
2018-08-15T08:44:55Z
2016-05-06
Zhanat Kappassova, Juan-Antonio Corralesb, Véronique Perdereaua. 2016. Tactile sensing in dexterous robot hands – review. Science Direct.
http://nur.nu.edu.kz/handle/123456789/3383
Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about
forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent
advancements in robot tactile sensing led to development of many computational techniques that exploit this important
sensory channel. This paper reviews current state-of-the-art of manipulation and grasping applications that involve
artificial sense of touch and discusses pros and cons of each technique. The main issues of artificial tactile sensing are
addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are
analyzed. Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their
transduction types and applications. Previously issued reviews are focused on hardware part of tactile sensors, whereas
we present an overview of algorithms and tactile feedback-based control systems that exploit signals from the sensors.
The applications of these algorithms include grasp stability estimation, tactile object recognition, tactile servoing and
force control. Drawing from advancements in tactile sensing technology and taking into consideration its drawbacks,
this paper outlines possible new directions of research in dexterous manipulation
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Previous issue date: 2016-05-06
en
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
Tactile sensing
tactile sensors
robot hands
dexterous manipulation
tactile sensing application
review
Tactile sensing in dexterous robot hands – review
Articlescienceoai:nur.nu.edu.kz:123456789/33842018-08-15T21:00:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Kappassov, Zhanat
Baimukashev, Daulet
Adiyatov, Olzhas
Atakan Varol, Huseyin
2018-08-15T09:23:50Z
2018-08-15T09:23:50Z
2018
Zhanat Kappassov, Daulet Baimukashev, Olzhas Adiyatov, Shyngys Salakchinov, Yerzhan Massalin, Huseyin Atakan Varol. A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects.
http://nur.nu.edu.kz/handle/123456789/3384
Tactile sensing arrays are used to detect contacts
of robotic systems with the environment. They are particularly
useful for scenarios in which vision-based sensors cannot be
used. Thanks to the presence of multiple sensing elements,
tactile arrays also provide spatial information about the contact
location. In this work, we present our series elastic tactile
array to enable tactile exploration for position-controlled robot
manipulators. Sixteen compliant sensing elements are arranged
as a 4 4 array. This allows the position-controlled robot to
explore objects via palpation. Tactile sensing was accomplished
by measuring the change of the magnetic field caused by
neodymium magnets embedded into the series elastic elements.
We demonstrate the efficacy of our sensor with two sets of
experiments involving physical interaction scenarios. Firstly, we
show that the sensor can be used to differentiate between rigid
and deformable objects. Secondly, we show that point clouds
of objects can be generated quickly with our sensor module
attached to a position-controlled robot manipulator as an endeffector
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz) on 2018-08-15T09:13:58Z
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Previous issue date: 2018
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Tactile sensing
tactile sensors
A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects
Articlescienceoai:nur.nu.edu.kz:123456789/35842021-02-05T07:23:47Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1167
Keldibek, Amina
2018-11-01T05:46:33Z
2018-11-01T05:46:33Z
2017-04
http://nur.nu.edu.kz/handle/123456789/3584
Humanoid robots are developed around the world with the purpose to assist humans in their
domestic and public activities and operate in unstructured and hazardous environments. To
accomplish this effectively, intelligent humanoids should be autonomous, to accomplish
high-level human tasks without help, and adaptable, to be able to react to dynamic changes
and external disturbances in operating environments. The primary objective of this thesis is
to investigate how biologically plausible methods such as reservoir computing and rewardmodulated
learning can be used for generating robust sensory-motor outputs and achieving
adaptability of the biped system. Recurrent neural networks architecture is studied on
two robot systems: first is Asimo humanoid and second is biped developed at Nazarbayev
University.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz) on 2018-11-01T05:27:07Z
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Previous issue date: 2017-04
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Nazarbayev University School of Science and Technology
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Neuromorphic Control System
Biped Robot
Development of a Neuromorphic Control System for a Biped Robot
Master's thesisscienceoai:nur.nu.edu.kz:123456789/35862021-02-05T07:23:48Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1167
Aubakir, Bauyrzhan
2018-11-01T10:08:37Z
2018-11-01T10:08:37Z
2017-05
Bauyrzhan Aubakir. Development of a Lightweight Biped Robot. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University
http://nur.nu.edu.kz/handle/123456789/3586
Robotics, as a research and technical field, finds inspiration in nature. In particular,
bipedal robots, which structure and kinematics reproduce the lower limbs of a human
body, are the first step toward functional humanoid robots. This document describes
the development phases of a lightweight biped robot under construction at the department
of Robotics and Mechatronics in Nazarbayev University. The mechanical
design is the primary focus of this work; nevertheless, a big effort was also dedicated
to formalize and realize the electrical, sensorial and software subsystems. By using 3D
printing techniques and lightweight materials a lower power consumption and higher
power over weight ratio was reached in comparison with state-of-the-art robots having
comparable dimensions. Furthermore, thanks to a lower links inertia the system is
inherently safer when operating in environment where humans are present. A detailed
description of the robot kinematics and the methodology followed to dimension the
actuation system is provided together with preliminary results on the execution of
different postures and gaits.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz) on 2018-11-01T05:52:49Z
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Nazarbayev University School of Science and Technology
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Lightweight Biped Robot
robotics
Development of a Lightweight Biped Robot
Master's thesisscienceoai:nur.nu.edu.kz:123456789/35872021-02-05T07:23:48Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1167
Nurimbetov, Birzhan
2018-11-01T10:13:04Z
2018-11-01T10:13:04Z
2017-04
Birzhan Nurimbetov. Robotic Assembly Planning of Tensegrity Structures. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University
http://nur.nu.edu.kz/handle/123456789/3587
Tensegrity structures provide durability and stability with minimal weight. Thanks
to these properties, use of tensegrity structures for space applications is becoming
an active research area. One of the main challenges is the automated construction
of such structures in space. In this thesis, we present a framework for the automated
assembly planning of tensegrity structures using an industrial manipulator
(Staubli TX90XL) equipped with a purpose-specific end-effector. We leverage the
recent advances in sampling-based motion planning to create the motion plans (i.e.
the reference trajectories for the manipulator joints). Specifically, we divided the
assembly planning problem into three stages. In the first stage, the initial position
and orientation of the given tensegrity structure with respect to the assembly robot
is determined using a motion-planning integrated forward elimination search. In the
second stage, a feasible assembly sequence of the strings is found using backward
disassembly search. Lastly, individual robot motion plans for attaching each string
to the bars for the given tensegrity configuration is generated using RRT* algorithm.
The efficacy of the framework was demonstrated using an extensive set of simulation
and real-world experiments dealing with the assembly of a 3-strut and 9-string tensegrity
prism structure, which can be utilized as a building block of complex tensegrity
structures.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz) on 2018-11-01T10:12:26Z
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Nazarbayev University School of Science and Technology
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Robotic Assembly Planning
Tensegrity Structures
Robotic Assembly Planning of Tensegrity Structures
Master's thesisscienceoai:nur.nu.edu.kz:123456789/35892021-02-05T07:23:49Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1167
Yestemirova, Gaukhar
2018-11-01T10:24:52Z
2018-11-01T10:24:52Z
2017-04
Gaukhar Yestemirova. Data Aggregation in Wireless Sensor Networks with Multiple Sinks. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University
http://nur.nu.edu.kz/handle/123456789/3589
The invention of wireless sensor networks (WSNs) has caused a technological breakthrough
in almost all industry fields that need to acquire regular and reliable real-time
data from the field of interest. Today WSNs are used in many applications, including
environmental, industrial, health care, and military.
A WSN is a network comprised of sensors devices, usually called nodes, and a
designated device called a sink to which nodes transmit their sensed data. Nodes are
low-cost, battery-powered devices with limited memory and computational power.
Usually WSNs are deployed and left unattended for a long time. During this time the
WSN can experience different faulty scenarios. For example, nodes and sink can crash
or communication between them can go down. In such cases, the network becomes
useless as the sink will not be able to collect data from nodes. One way to increase the
reliability of such WSNs is to deploy them with more than one sink so that when one
sink goes down other sinks could forward collected data. A number of data collection
protocols have been proposed so far. However, they have been proposed mainly for
WSNs with a single sink. Existing protocols developed for WSNs with a single sink
does not show the similar system efficiency to WSNs with multiple sinks.
In this thesis work, we propose three data aggregation protocols for WSNs with
multiple sinks: i) an adjusted form of Minimum Spanning Tree (MST); ii) two adjusted
forms of Shortest Path Tree (SPT) and i) Maximum Spanning Backbone (MSB)
that try to minimize the number of message transmissions during data collection. In
all cases we first build a tree and then highlight the set of nodes that connect all the
sinks and call them backbone nodes. These backbone nodes first collect the data from
the nodes, then send aggregated data to all the sinks. We show the performance of
our proposed protocols using simulation program. The simulation results from least
to most backbone nodes as the following: MSB, two adjustments of SPT and MST.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz) on 2018-11-01T10:24:15Z
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Nazarbayev University School of Science and Technology
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Wireless Sensor Networks
Data Aggregation in Wireless Sensor Networks with Multiple Sinks
Master's thesisscienceoai:nur.nu.edu.kz:123456789/35922021-02-05T07:23:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1167
Tursynbek, Iliyas
2018-11-01T10:29:18Z
2018-11-01T10:29:18Z
2017-05
Iliyas Tursynbek. Mechanical Design and Kinematic Analysis of a Spherical Parallel Manipulator with Coaxial Input Shafts. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University
http://nur.nu.edu.kz/handle/123456789/3592
In this thesis a spherical parallel manipulator with coaxial input shafts (Coaxial SPM)
is under study. It is a part of a bigger family of spherical parallel manipulators (SPM)
with a special feature of unlimited roll rotation around its axis. This feature makes
the Coaxial SPM of high interest for applications in motion control system. First, an
approach for obtaining unique forward and inverse kinematics solutions is introduced,
in order to relate the angular position of the manipulator servomotors to the position
and orientation of Coaxial SPM mobile platform and vice versa. Then, a configuration
space of the manipulator is defined by using a numerical procedure, in order to
guarantee the absence of singularities and of collision between the manipulator links
during the manipulator motion. Afterwards, the Cartesian space of the manipulator
is generated. Results of these analyses are applied to the assembled mechanical
prototype of Coaxial SPM for experimental verifications.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz) on 2018-11-01T10:28:34Z
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Previous issue date: 2017-05
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Nazarbayev University School of Science and Technology
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Spherical Parallel Manipulator
Mechanical Design and Kinematic Analysis of a Spherical Parallel Manipulator with Coaxial Input Shafts
Master's thesisscienceoai:nur.nu.edu.kz:123456789/35932021-02-05T07:23:51Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1167
Issa, Margulan
2018-11-01T10:33:39Z
2018-11-01T10:33:39Z
2017-04
Margulan Issa. Robotic Construction of Tensegrity Structures. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University
http://nur.nu.edu.kz/handle/123456789/3593
Tensegrity based design is emerging as an active research field. Tensegrity structures
can be constructed with minimal weight compared to the traditional ones. They can
also have stability and durability without relying on gravity. These merits make them
ideal for the construction of orbital structures such as space stations. Even though
the researchers have recently crafted elegant theories for the statics and dynamics of
tensegrity, there are many hurdles for their active utilization in space construction.
Due to the need for attaching strings in complex geometries and precise tensioning of
these, the labor and skill intensive construction of these tensegrities in space cannot
be accomplished by humans. With recent advances in robotics especially in embedded
computing, sensing and motion planning, robots can be summoned to tackle the
automated construction problem of tensegrities. To the best of the author’s knowledge,
an automated construction framework for tensegrities does not exist. This
thesis focuses on this problem. Firstly, we describe our assembly-friendly tensegrity
struts with integrated strings and tensioners. Secondly, we present the development
and implementation of a specialized robot end-effector for tensegrity construction.
This end-effector with embedded sensors and computation is capable of measuring
the string tension based on vibration frequency, attaching/detaching strings and also
tensioning them. Using these components, we developed a framework for robotic
construction of tensegrity structures. We show the efficacy of our framework by realworld
experiments. In particular, we constructed a 3-strut and 9-string tensegrity
prism which can serve as a building block for more complex structures.
Submitted by Ainash Yeleussizova (ainash.shagmanova@nu.edu.kz) on 2018-11-01T10:33:08Z
No. of bitstreams: 2
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Nazarbayev University School of Science and Technology
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Robotic Construction
Robotic Construction of Tensegrity Structures
Master's thesisscienceoai:nur.nu.edu.kz:123456789/42152020-07-14T04:31:59Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1166
Saduanov, Batyrkhan
Tokmurzina, Dana
Alizadeh, Tohid
Abibullaev, Berdakh
2019-09-06T04:04:36Z
2019-09-06T04:04:36Z
2018-03-08
Saduanov, B., Tokmurzina, D., Alizadeh, T., & Abibullaev, B. (2018). Brain-Computer Interface Humanoid Pre-trained for Interaction with People. In HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction (pp. 229-230). IEEE Computer Society. https://doi.org/10.1145/3173386.3177080
10.1145/3173386.3177080
https://dl.acm.org/citation.cfm?doid=3173386.3177080
https://research.nu.edu.kz/en/publications/brain-computer-interface-humanoid-pre-trained-for-interaction-wit
http://nur.nu.edu.kz/handle/123456789/4215
HRI 2018 - Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction
People with the disabilities are in need to have an assistive technology that will alleviate their life through improving its social aspects. This article presents a Brain-Computer Interface (BCI) based remote presence system for humanoid NAO robot. The system would be useful for partially or fully paralyzed patients to interact with people and live active social life. A P300 based BCI is used to control high-level desires of the humanoid and visual stimulus presentation is implemented to control
a humanoid robot. ”Programming by Demonstration (PbD)” methods are used to train the robot
to perform human interactive actions and NAO robot native speller is used to talk with people. In general, the proposed solution combines two major techniques: Programming by demonstration and BCI. An experiment is designed and conducted on 5 different healthy subjects to perform a handshake, waving, walking and etc., verifying the applicability of the proposed approach.
Submitted by Gaukhar Malikova (gaukhar.malikova@nu.edu.kz) on 2019-09-06T04:03:51Z
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Previous issue date: 2018-03-08
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Nazarbayev University School of Science and Technology
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Human-Robot Interaction
Social Robotics
Programming by demonstration
Brain-Computer Interfaces
BCIs
P300
Brain-Computer Interface Humanoid Pre-trained for Interaction with People
Conference Paperscienceoai:nur.nu.edu.kz:123456789/42162020-07-14T04:32:38Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1166
Saduanov, Batyrkhan
Alizadeh, Tohid
Abibullaev, Berdakh
An, Jinung
2019-09-06T04:15:45Z
2019-09-06T04:15:45Z
2018-01-15
Saduanov, B., Alizadeh, T., An, J., & Abibullaev, B. (2018). Trained by demonstration humanoid robot controlled via a BCI system for telepresence. In 2018 6th International Conference on Brain-Computer Interface, BCI 2018 (Vol. 2018-January, pp. 1-4). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IWW-BCI.2018.8311508
10.1109/IWW-BCI.2018.8311508
https://research.nu.edu.kz/en/publications/trained-by-demonstration-humanoid-robot-controlled-via-a-bci-syst
https://ieeexplore.ieee.org/document/8311508
http://nur.nu.edu.kz/handle/123456789/4216
2018 6th International Conference on Brain-Computer Interface (BCI)
Onerous life of paralyzed people is a substantial problem of the world society and improving their life quality would be a great achievement. This paper proposes a solution in this regard based on telepresence, where a patient perceives and interacts with a world through an embodiment of a robot controlled by a Brain-Computer Interface (BCI) system. The proposed approach brings together two leading techniques: Programming by Demonstration and BCI. Several tasks could be learned by the robot observing someone performing the function. The end user would issue commands to the robot, using a BCI system, concerning its movement and the tasks to be performed. An experiment is designed and conducted, verifying
the applicability of the proposed approach.
Submitted by Gaukhar Malikova (gaukhar.malikova@nu.edu.kz) on 2019-09-06T04:15:20Z
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Previous issue date: 2018-01-15
en
Nazarbayev University School of Science and Technology
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
Brain-Computer Interfaces
Brain computer interface
Computer Systems
Demonstrations
Robots
Quality of Life
Experiments
Trained by Demonstration Humanoid Robot Controlled via a BCI system for Telepresence
Conference Paperscienceoai:nur.nu.edu.kz:123456789/42312020-07-14T04:32:52Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1166
Oleinikov, Artemiy
Abibullaev, Berdakh
Shintemirov, Almas
Folgheraiter, Michele
2019-09-10T10:26:04Z
2019-09-10T10:26:04Z
2018-01-05
Oleinikov, A., Abibullaev, B., Shintemirov, A., & Folgheraiter, M. (2018). Feature extraction and real-time recognition of hand motion intentions from EMGs via artificial neural networks. In 2018 6th International Conference on Brain-Computer Interface, BCI 2018 (Vol. 2018-January, pp. 1-5). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IWW-BCI.2018.8311527
https://ieeexplore.ieee.org/document/8311527
http://nur.nu.edu.kz/handle/123456789/4231
Electromyography (EMG) signal analysis is one of the key determinants of the effectiveness of prosthetic devices. Modern researchers provide various methods of detection of different hand movements and postures. In this work, we examined the possibility to produce efficient detection of hand movement to a specific posture with the minimum possible number of electrodes. The data acquisition is produced with 1 channel BiTalino EMG sensor based on bipolar differential measurement. Using feature extraction and artificial neural network we achieved 82% of offline classification accuracy for 8 hand motions and 91% accuracy for 6 hand motions based on 200 ms of EMG signal. Also, the motion detection algorithm was developed and successfully tested that allowed to implement the algorithm for real-time classification and that showed sufficient accuracy for 2 and 4 motion classes cases.
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Feature Extraction and Real-Time Recognition of Hand Motion Intentions from EMGs via Artificial Neural Networks_Pre-Print (2).pdf: 1023044 bytes, checksum: c53ae4491cd991177bc553f56fbe0f5d (MD5)
Previous issue date: 2018-01-05
en
Nazarbayev University School of Science and Technology
Feature extraction and real-time recognition of hand motion intentions from EMGs via artificial neural networks
Conference Paperscienceoai:nur.nu.edu.kz:123456789/42322020-07-14T04:32:59Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1166
Do, Ton Duc
Nurtay, Bekarys
Duisenbay, Bota
2019-09-10T10:33:32Z
2019-09-10T10:33:32Z
2018-06-26
Nurtay, B., Duisenbay, B., & Do, T. D. (2018). Direct-torque control system design using maximum torque per ampere method for interior permanent magnet synchronous motors. In 12th International Conference ELEKTRO 2018, 2018 ELEKTRO Conference Proceedings (pp. 1-6). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ELEKTRO.2018.8398286
https://doi.org/10.1109/ELEKTRO.2018.8398286
http://nur.nu.edu.kz/handle/123456789/4232
The paper proposes a method for controlling interior Permanent Magnet Synchronous Motor (IPMSM) drives, that combines Direct-Torque control (DTC) and Maximum Torque Per Ampere (MTPA) in a synchronously rotating (d-q) frame. It has been proven that the increase of electromagnetic torque is proportional to the increase of angle between rotor and stator flux linkages. The use of the DTC method for controlling IPMSM shows a quick and robust response with torque and flux ripples. Combined with MPTA the efficiency of the system is increased as there is no need for prior estimation of flux. Also, speed control loop with PI controller is also introduced to the system for speed regulation. Here, we introduce a simple MTPA-based DTC scheme with speed control with satisfied performance. The feasibility of the system is confirmed by Simulink model, the results of which are presented in the paper.
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Previous issue date: 2018-06-26
12th International Conference ELEKTRO 2018, 2018 ELEKTRO Conference Proceedings of Electrical and Electronics Engineers Inc
en
Nazarbayev University School of Science and Technology
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
Control systems design
Direct Torque Control(DTC)
hysteresis comparator
Maximum Torque Per Ampere (MTPA)
Permanent Magnet Synchronous Motor (PMSM)
Proportional-Integrator regulator (PI)
Direct-torque control system design using maximum torque per ampere method for interior permanent magnet synchronous motors
Conference Paperscienceoai:nur.nu.edu.kz:123456789/42332020-07-14T04:33:05Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1166
Do, Ton Duc
Zhetpissov, Yernar
Kaibaldiyev, Azamat
2019-09-10T10:43:01Z
2019-09-10T10:43:01Z
2018-06-26
Zhetpissov, Y., Kaibaldiyev, A., & Do, T. (2018). PI anti-windup speed control of permanent magnet synchronous motor based on feedforward compensation. In M. Markovic, P. Hockicko, & J. Dubovan (Eds.), 12th International Conference ELEKTRO 2018, 2018 ELEKTRO Conference Proceedings (pp. 1-8). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ELEKTRO.2018.8398275
https://doi.org/10.1109/ELEKTRO.2018.8398275
http://nur.nu.edu.kz/handle/123456789/4233
12th International ELEKTRO Conference, ELEKTRO 2018 - Mikulov, Czech Republic
This paper designs simulation model of PI anti-windup speed controller based on a simple set-point weighting for the interior permanent-magnet synchronous motor (IPMSM). Firstly, a mathematical model of IPMSM drive system utilized in the simulation is introduced. Also, the maximum torque per ampere (MTPA) control suitable for IPMSM was employed. This controller is simple for implementation in practice and it has advantages over a conventional PI controller. The proposed anti-windup PI controller demonstrates better dynamic step changes response in speed in terms of overshoots, improved settling time, and improved robustness to parameter variations in comparison with conventional PI. The performance of proposed PI anti-windup controller with set-point weighting was compared with the conventional PI.
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Previous issue date: 2018-06-26
en_US
Nazarbayev University School of Science and Technology
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
anti-windup
back calculation
feedforward
set-point
weighting
speed control
tracking
IPMSM
PI
PI anti-windup speed control of permanent magnet synchronous motor based on feedforward compensation
Conference Paperscienceoai:nur.nu.edu.kz:123456789/44062019-12-12T21:02:20Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Fadeyev, Denis
Zhakatayev, Altay
Kuzdeuov, Aksat
Varol, Huseyin Atakan
2019-12-12T04:07:28Z
2019-12-12T04:07:28Z
2019-05-14
Fadeyev, D., Zhakatayev, A., Kuzdeuov, A., & Varol, H. A. (2019). Generalized Dynamics of Stacked Tensegrity Manipulators. IEEE Access, 7, 63472–63484. https://doi.org/10.1109/access.2019.2916681
Varol,
http://nur.nu.edu.kz/handle/123456789/4406
https://ieeexplore.ieee.org/document/8713969
Tensegrity structures emerged initially as an art form, have recently gained substantial interest among engineering researchers. The distinctive attribute of these structures is using pretensioned tensile elements connected to rigid bars to establish an equilibrium of the whole structure. Thanks to these elements, tensegrity structures are lightweight and yet robust. The main challenge impeding their widespread use is the intricate constrained nonlinear dynamics caused by the tensegrity topology. In this paper, we extend the dynamics of tensegrities by adding damping forces and incorporating forces along the connected strings passing through several nodes. As an experimental platform, a two-stage stacked tensegrity manipulator was constructed. The system was actuated using six actuators and the kinematic information of the system was acquired by measuring the node coordinates using optical motion capture. Afterward, we compared the structure behavior to the simulated one using our dynamics formulation. The results of these experiments show that our dynamics formulation is capable of representing the rich nonlinear dynamics of stacked tensegrity manipulators effectively.
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Previous issue date: 2019-05-14
en
Institute of Electrical and Electronics Engineers
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
Mathematical model
dynamics
Bars
Actuators
Manipulator dynamics
Nonlinear dynamical systems
connected strings
two-stage stacked tensegrity manipulator
tensegrity topology
Generalized Dynamics of Stacked Tensegrity Manipulators
Articlescienceoai:nur.nu.edu.kz:123456789/47312020-05-19T21:00:44Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Ton, Duc Do
Nguyen, Hoach The
2020-05-19T10:42:58Z
2020-05-19T10:42:58Z
2018-04
Do, T. D., & Nguyen, H. T. (2018). A Generalized Observer for Estimating Fast–Varying Disturbances. IEEE Access, 6, 28054–28063. https://doi.org/10.1109/access.2018.2833430
2169-3536
10.1109/access.2018.2833430
https://ieeexplore.ieee.org/document/8354722
https://doi.org/10.1109/access.2018.2833430
http://nur.nu.edu.kz/handle/123456789/4731
In this paper, a generalized disturbance observer (GDO) is proposed for estimating a broad range of disturbances including fast-varying ones. The estimation error of the proposed GDO is proven to be ultimately bounded provided that an arbitrary r th time derivative of disturbance is bounded. A broader range of disturbances can be estimated by the proposed GDO in comparison with the conventional disturbance observers (DO) or even recent fast-varying disturbance observers (FVDO) because conservative assumptions such as zero time-derivatives of disturbances are avoided. Furthermore, intuitive rules for gain-tuning and selecting the weighting matrices in the observer design are systematically presented. To validate the superiority of the proposed GDO to conventional FVDOs, comprehensive studies using the linear and nonlinear systems with different types of disturbances are conducted in the MATLAB/Simulink platform. In a specific application of wind energy conversion systems, the proposed GDO is employed to precisely estimate the aerodynamic torque. Then, a completed control system with a linear quadratic regulator (LQR) is designed and implemented to verify the final performance with the proposed GDO. The proposed observer-based LQR is proved to ultimately be bounded stable with superior performances to further validate the proposed GDO.
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Previous issue date: 2018-04
en
IEEE
IEEE Access;
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
Disturbance observer
optimal control
wind energy conversion system
fast-varying disturbance
uncertainties estimation
Research Subject Categories::TECHNOLOGY
A Generalized Observer for Estimating Fast–Varying Disturbances
Articlescienceoai:nur.nu.edu.kz:123456789/64932022-07-21T21:00:23Zcom_123456789_513com_123456789_70com_123456789_67col_123456789_1165
Rubagotti, Matteo
Tusseyeva, Inara
Baltabayeva, Sara
Summers, Danna
Sandygulova, Anara
2022-07-21T04:39:43Z
2022-07-21T04:39:43Z
2021
Rubagotti, M., Tusseyeva, I., Baltabayeva, S., Summers, D., & Sandygulova, A. (2022). Perceived safety in physical human–robot interaction—A survey. Robotics and Autonomous Systems, 151, 104047. https://doi.org/10.1016/j.robot.2022.104047
http://nur.nu.edu.kz/handle/123456789/6493
This review paper focuses on different aspects of perceived safety for a number of autonomous physical systems. This is a major
aspect of robotics research, as more and more applications allow human and autonomous systems to share their space, with crucial
implications both on safety and on its perception. The alternative terms used to express related concepts (e.g., psychological
safety, trust, comfort, stress, fear, and anxiety) are listed and explained. Then, the available methods to assess perceived safety
(i.e., questionnaires, physiological measurements, behavioral assessment, and direct input devices) are described. Six categories of
autonomous systems are considered (industrial manipulators, mobile robots, mobile manipulators, humanoid robots, drones, and
autonomous vehicles), providing an overview of the main themes related to perceived safety in the specific domain, a description
of selected works, and an analysis of how motion and characteristics of the system influence the perception of safety. The survey
also discusses experimental duration and location of the reviewed papers as well as identified trends over time.
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Previous issue date: 2021
en
arxiv
Attribution-NonCommercial-ShareAlike 3.0 United States
http://creativecommons.org/licenses/by-nc-sa/3.0/us/
Type of access: Open Access
Physical human robot interaction
perceived safety
trust
comfort
UAVs
self-driving cars
PERCEIVED SAFETY IN PHYSICAL HUMAN ROBOT INTERACTION - A SURVEY
Articlescience