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Browsing Robotics and Mechatronics by Title

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  • ADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR 
    Scarfogliero, Umberto; Folgheraiter, Michele; Gini, Giuseppina (4th IEEE/RAS International Conference on Humanoid Robots, 2004)
    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 ...
  • A Multi-Modal haptic interface for Virtual Reality and Robotics 
    Folgheraiter, Michele; Gini, Giuseppina; Vercesi, Dario (Journal of Intelligent and Robotic Systems, 2008-08)
    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 ...
  • An Adaptive Voltage Control Strategy of Three- Phase Inverter for Standalone Distributed Generation Systems 
    Do, Ton Duc; Leu, Viet Quoc; Choi, Young-Sik; Choi, Han Ho; Jung, Jin-Woo (2012)
    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 ...
  • An Electromagnetic Steering System for Magnetic Nanoparticle Drug Delivery 
    Do, Ton Duc; Noh, Yeongil; Kim, Myeong Ok; Yoon, Jungwon (2015)
    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 ...
  • A Neuromorphic Motion Controller for a Biped Robot 
    Folgheraiter, Michele; Keldibek, Amina; Aubakir, Bauyrzhan; Salakchinov, Shyngys; Gini, Giuseppina; Mauro Franchi, Alessio (Human Performance and Robotics, Satellite Workshop of IEEE Humanoid 2016, 2016)
    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.
  • A Nonlinear Sliding Mode Controller for IPMSM Drives with an Adaptive Gain Tuning Rule 
    Jung, Jin-Woo; Dang, Dong Quang; Vu, Nga Thi-Thuy; Justo, Jackson John; Do, Ton Duc; Choi, Han Ho; Kim, Tae Heoung (2015)
    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 ...
  • An Optimized Field Function Scheme for Nanoparticle Guidance in Magnetic Drug Targeting systems 
    Do, Ton Duc; Noh, Yeongil; Kim, Myeong Ok; Yoon, Jungwon (IEEE, 2015)
    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 ...
  • Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle 
    Asl, Hamed Jabbari; Do, Ton Duc (2015)
    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 ...
  • Augmenting variable stiffness actuation using reaction wheels 
    Baimyshev, Almaskhan; Zhakatayev, Altay; Varol, Huseyin Atakan (IEEE Access, 2016)
    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 ...
  • Brain-Computer Interface Humanoid Pre-trained for Interaction with People 
    Saduanov, Batyrkhan; Tokmurzina, Dana; Alizadeh, Tohid; Abibullaev, Berdakh (Nazarbayev University School of Science and Technology, 2018-03-08)
    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 ...
  • Children’s perception of synthesized voice: Robot’s gender, age and accent 
    Sandygulova, Anara; O’Hare, Gregory M. P. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2015)
    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 ...
  • Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control 
    Zhakatayev, Altay; Rubagotti, Matteo; Varol, Huseyin Atakan (IEEE Access, 2015-04-10)
    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 ...
  • Cluster-head based feedback for simplified time reversal prefiltering in ultra-wideband systems 
    Soleimani, Hossein; Tomasin, Stefano; Alizadeh, Tohid; Shojafar, Mohammad (Physical Communication, 2017-12-01)
    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. ...
  • Data Aggregation in Wireless Sensor Networks with Multiple Sinks 
    Yestemirova, Gaukhar (Nazarbayev University School of Science and Technology, 2017-04)
    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 ...
  • Design and evaluation of action observation and motor imagery based BCIs using Near-Infrared Spectroscopy 
    Abibullaev, Berdakh; An, Jinung; Lee, Seung Hyun; Moon, Jeon Il (Measurement, 2017-02-01)
    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 ...
  • Development of a Lightweight Biped Robot 
    Aubakir, Bauyrzhan (Nazarbayev University School of Science and Technology, 2017-05)
    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 ...
  • Development of a Neuromorphic Control System for a Biped Robot 
    Keldibek, Amina (Nazarbayev University School of Science and Technology, 2017-04)
    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 ...
  • Development of a neuromorphic control system for a lightweight humanoid robot 
    Folgheraiter, Michele; Keldibek, Amina; Aubakir, Bauyrzhan; Salakchinov, Shyngys (The International Conference on Information Technology and Digital Applications, 2016-11)
    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 ...
  • Direct-torque control system design using maximum torque per ampere method for interior permanent magnet synchronous motors 
    Do, Ton Duc; Nurtay, Bekarys; Duisenbay, Bota (Nazarbayev University School of Science and Technology, 2018-06-26)
    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. ...
  • Disturbance Observer-Based Fuzzy SMC of WECSs Without Wind Speed Measurement 
    Do, Ton Duc (IEEE Access, 2017-02-25)
    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 ...