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Browsing Robotics and Mechatronics by Title

Browsing Robotics and Mechatronics by Title

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  • Mechanical Design and Kinematic Analysis of a Spherical Parallel Manipulator with Coaxial Input Shafts 
    Tursynbek, Iliyas (Nazarbayev University School of Science and Technology, 2017-05)
    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 ...
  • Minimizing inter-subject variability in fNIRS-based brain–computer interfaces via multiple-kernel support vector learning 
    Abibullaev, Berdakh; An, Jinung; Jin, Sang-Hyeon; Lee, Seung Hyun; Moon, Jeon Il (Medical Engineering & Physics, 2013-12-01)
    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 ...
  • MOBY-DIC: A MATLAB Toolbox for Circuit-Oriented Design of Explicit MPC 
    Oliveri, Alberto; Barcelli, Davide; Bemporad, Alberto; Genuit, Bart; Heemels, Maurice; Poggi, Tomaso; Rubagotti, Matteo; Storace, Marco (IFAC Proceedings Volumes, 2012-01-01)
    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 ...
  • Nonlinear Optimal DTC Design and Stability Analysis for Interior Permanent Magnet Synchronous Motor Drives 
    Do, Ton Duc; Choi, Han Ho; Jung, Jin-Woo (2015)
    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, ...
  • PERCEIVED SAFETY IN PHYSICAL HUMAN ROBOT INTERACTION - A SURVEY 
    Rubagotti, Matteo; Tusseyeva, Inara; Baltabayeva, Sara; Summers, Danna; Sandygulova, Anara (arxiv, 2021)
    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 ...
  • PI anti-windup speed control of permanent magnet synchronous motor based on feedforward compensation 
    Do, Ton Duc; Zhetpissov, Yernar; Kaibaldiyev, Azamat (Nazarbayev University School of Science and Technology, 2018-06-26)
    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 ...
  • Robotic Assembly Planning of Tensegrity Structures 
    Nurimbetov, Birzhan (Nazarbayev University School of Science and Technology, 2017-04)
    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 ...
  • Robotic Construction of Tensegrity Structures 
    Issa, Margulan (Nazarbayev University School of Science and Technology, 2017-04)
    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 ...
  • SDRE-Based Near Optimal Control System Design for PM Synchronous Motor 
    Do, Ton Duc; Choi, Han Ho; Jung, Jin-Woo (IEEE, 2011)
    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 ...
  • Sensors for Robotic Hands: A Survey of State of the Art 
    Saudabayev, Artur; Varol, Huseyin Atakan (IEEE Access, 2015-10-12)
    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. ...
  • A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects 
    Kappassov, Zhanat; Baimukashev, Daulet; Adiyatov, Olzhas; Atakan Varol, Huseyin (2018)
    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 ...
  • Tactile sensing in dexterous robot hands – review 
    Kappassov, Zhanat; Corrales, Juan-Antonio; Perdereau, Véronique (2016-05-06)
    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 ...
  • Trained by Demonstration Humanoid Robot Controlled via a BCI system for Telepresence 
    Saduanov, Batyrkhan; Alizadeh, Tohid; Abibullaev, Berdakh; An, Jinung (Nazarbayev University School of Science and Technology, 2018-01-15)
    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 ...
  • θ-D Approximation Technique for Nonlinear Optimal Speed Control Design of Surface-Mounted PMSM Drives 
    Do, Ton Duc; Choi, Han Ho; Jung, Jin-Woo (2015)
    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 ...