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  • 1.
    Ahmed, Muhammad Rehan
    et al.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Semi-active compliant robot enabling collision safety for human robot interaction2010In: 2010 International Conference on Mechatronics and Automation (ICMA), IEEE, 2010, p. 1932-1937Conference paper (Refereed)
    Abstract [en]

    Human robot interaction (HRI) tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior enabling eminent collision safety as well as maintaining high position accuracy. Robot compliance control normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We proposed a unique method using semi-active compliant actuation mechanism having magneto-rheological (MR) fluid based actuator that introduces reconfigurable compliance characteristics into the robot joints. This enables high intrinsic safety coming from fluid mechanics as well as, it offers simpler interaction control strategy compared to other concurrent approaches. In this studies, we have described three essential modes of motions required for physical human system interaction. Furthermore, we have demonstrated robot collision safety in terms of static collision and experimentally validates the performance of robot manipulator enabling safe human robot interaction.

  • 2.
    Ahmed, Muhammad Rehan
    et al.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Static and dynamic collisionsafety for human robot interaction using magneto-rheological fluid based compliant robot manipulator2010In: IEEE international conference on robotics and biomimetics (ROBIO), 2010, IEEE conference proceedings, 2010, p. 370-375Conference paper (Refereed)
    Abstract [en]

    The success of human robot interaction (HRI) tasks is characterized by evaluating robot performance in terms of collision safety and position accuracy. Hence, both position accuracy and collision safety are equally indispensable. HRI refers to cognitive as well as physical interaction. Cognitive human robot interaction based on perception and awareness where as physical human robot interaction demands direct contact with the humans exhibiting adaptable compliant behavior. Therefore, development of ideal safe robot manipulator having adaptable compliant actuation is inevitable. Adaptable compliance can be achieved by using active compliant actuation requiring various sensor data or by using passive compliant devices with high mechanical complexity. We present magneto rheological fluid based compliant actuation mechanism introducing adaptable compliance directly into robotic joint with much simpler interaction control and higher intrinsic safety originating from fluid mechanics. In this study, we have discussed adaptable compliance in terms of essential modes of motion for safe physical HRI and evaluated the safety performance of our robot for static collision testing and dynamic collision testing based on impact force and head injury criterion. Finally, the experimental results validate the significance of our proposed method for both human robot collision safety and high position accuracy.

  • 3.
    Ahmed, Muhammad Rehan
    et al.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Static collision analysis of semi active compliant robot for safe human robot interaction2010In: Proceedings of the 12th Mechatronics Forum Biennial International Conference, IWF Institute of Machine tools and manufacturing , 2010, p. 220-227Conference paper (Refereed)
  • 4.
    Ahmed, Muhammad Rehan
    et al.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Two link compliant robot manipulator for physical human robot collision safety2012In: Biomedical Engineering Systems and Technologies / [ed] Ana Fred, Joaquim Filipe, Hugo Gamboa, Springer, 2012Conference paper (Refereed)
  • 5.
    Ahmed, Rehan M.
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani V.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Compliant motion control for safe human robot interaction2009In: Robot motion and control 2009 / [ed] Krzysztof R. Kozłowski, Berlin: Springer , 2009, p. 265-274Conference paper (Refereed)
    Abstract [en]

    Robots have recently been foreseen to work side by side and share workspace with humans in assisting them in tasks that include physical human-robot (HR) interaction. The physical contact with human tasks under uncertainty has to be performed in a stable and safe manner [6]. However, current industrial robot manipulators are still very far from HR coexisting environments, because of their unreliable safety, rigidity and heavy structure. Besides this, the industrial norms separate the two spaces occupied by a human and a robot by means of physical fence or wall [9]. Therefore, the success of such physical HR interaction is possible if the robot is enabled to handle this interaction in a smart way to prevent injuries and damages.

  • 6.
    Ahmed, Rehan M.
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani V.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan G.
    Örebro University, School of Science and Technology.
    Safe robot with reconfigurable compliance/stiffness actuation2009In: Proceedings of ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR'2009 / [ed] J. S. Dai, M. Zoppi, X. W. Kong, IEEE, 2009, p. 633-638Conference paper (Refereed)
    Abstract [en]

    Human robot interaction (HRI) in constrained motion tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior Compliance control of industrial robots, normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present a unique method using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates reconfigurable compliance directly into the robot joints. This brings much simple interaction control strategy compared to other antagonistic methods. In this studies, we have described three essential modes of motions required for physical human system interaction. Then we have discussed their respective control disciplines. Finally, we have presented functional performance of reconfigurable MRF actuation mechanism in constrained motion tasks by simulating various HRI scenarios.

  • 7.
    Ahmed, Rehan M.
    et al.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Modeling of magneto rheological fluid actuator enabling safe human-robot interaction2008In: IEEE International Conference on Emerging Technologies and Factory Automation, 2008. ETFA 2008, 2008, p. 974-979Conference paper (Refereed)
    Abstract [en]

    Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present another approach using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates variable stiffness directly into the joints. In this paper, we have investigated and analyzed principle characteristics of MRF actuation mechanism and presented the analytical-model. Then we have developed the static and dynamic model based on experimental test results and have discussed three essential modes of motion needed for human-robot manipulation interactive tasks.

  • 8.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    In-water surface cleaning robot: concept, locomotion and stability2014In: International Journal of Mechatronics and Automation, ISSN 2045-1067, Vol. 4, no 2, p. 104-115Article in journal (Refereed)
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism in the design ofindustrial in-water cleaning robot, which is evaluated from the viewpoint of work and operationon an underwater surface. It enables the scanning and cleaning process performed by water jets,while keeping stable robot position on the surface by its capacity to bear and compensate the jetreactions. Such robotic platform can be used for cleaning and maintenance of various underwatersurfaces, including moving ships in the open sea. The designed robot implements its motions bycontraction and expansion of legged mechanism using standard motors and suction cupstechnology. In this study we focus at the conditions for achieving enough adhesion for keepingcontinuous contact between the robot and the surface and robot stability in different situations forthe basic locomotions.

  • 9.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    New concept of in-water surface cleaning robot2013In: Mechatronics and Automation (ICMA), 2013 IEEE International Conference onDate 4-7 Aug. 2013, IEEE conference proceedings, 2013, p. 1582-1587Conference paper (Refereed)
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism to design an industrial underwater cleaning robot, which is evaluated from the viewpoint of the capability to work underwater, scanning the desired surface, and bearing the reactions. This can be used as a robotic application in underwater surface cleaning and maintenance. We designed a robot that realizes the motion by contraction and extraction using DC-motors and vacuum technology. In this study we first focused on realizing the adhesion, bearing reactions, and achieving a stable locomotion on the surface.

  • 10.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Stability study of underwater crawling robot on non-horizontal surface2014In: Mobile Service Robotics: Clawar 2014: 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines: Poznan, Poland 21 - 23 July 2014, Singapore: World Scientific, 2014, p. 511-519Conference paper (Refereed)
    Abstract [en]

    This paper introduces a study of a concept of exible crawling mechanism todesign an industrial underwater cleaning robot, which is evaluated from theviewpoint of the capability to work underwater, scanning the desired surface,and bearing the reactions. This can be used as a robotic application in under-water surface cleaning and maintenance. In this study we focused on realizingthe adhesion on the surface in stationary and in motion, bearing reactions,enabling the needed locomotion types for scanning, and achieving the stabilityin dierent situations on the surface.

  • 11.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Dandan, Kinan
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Layered mission control architecture and strategy for crawling underwater cleaning robot2015In: International Journal of Mechatronics and Automation, ISSN 2045-1059, Vol. 5, no 2/3, p. 114-124Article in journal (Refereed)
    Abstract [en]

    This paper presents the mechanical design and the control system architecture of anunderwater robot, developed for bio-fouling cleaning surfaces. The robotic system presented herehas been designed to improve the productivity, reduce the environmental impacts, and excludethe hazards for the operators. The control system has a layered structure which is distributed intotwo blocks: cleaning robot, and on-board base station connected with power and control cablesand a water hose, to facilitate different modes of operations and to increase the system reliability.A low level control has been implemented on the robotic platform. The onboard station designedto be in different layers of the control system: manual, semiautonomous and autonomous modes.A scaled prototype has been implemented and tested to prove the concept, and to make certainthat the mechanical design and the chosen control system are perfectly suited to the mainfunctions of the robotic system.

  • 12.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Dandan, Kinan
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems2016In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 13, article id 7Article in journal (Refereed)
    Abstract [en]

    Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a light-weight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces.

  • 13.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Current collector for heavy vehicles on electrified roads2014In: Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014 / [ed] Leo J De Vin and Jorge Solis, Karlstad: Karlstads universitet , 2014, p. 436-441Conference paper (Refereed)
    Abstract [en]

    This paper presents a prototype of a novel current collector manipulator that can be mounted beneath a road vehicle between the front and rear wheels to collect electric power from road embedded power lines. The ground-level power supply concept for road vehicles is described and the kinematic model of this two degree of freedom manipulator is detailed. Finally, the power line detection, based on an array of inductive sensors, is discussed.

  • 14.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Current collector for heavy vehicles on electrified roads: kinematic analysisIn: International Journal of Electric and Hybrid Vehicles, ISSN 1751-4088Article in journal (Refereed)
    Abstract [en]

    We present a prototype of a novel current collector manipulator to be be mounted beneath a heavy vehicle to collect electric power from road-embedded power lines. We describe the concept of the ground-level power supply system for heavy vehicles and its main components. The main requirements and constraints, such as safety, robustness to harsh road and weather operational conditions, ambient environment aspects and dynamic properties, are introduced. The emphasis is on the developed kinematic model, which provides the base for further development of the control system. We propose and derive an alternative approach for representing the inverse kinematics by a two-dimensional polynomial approximation that avoids the usage of complicated non-linear equations. Its simplicity is demonstrated by a numerical example with the basic parameters of the prototype. The basic motion sequences of the current collector and the way to control them are outlined. 

  • 15.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Current Collector for Heavy Vehicles on Electrified Roads: Motion Control2015In: Journal of Asian Electric Vehicles, ISSN 1348-3927, Vol. 13, no 2, p. 1725-1732Article in journal (Refereed)
    Abstract [en]

    We present the adopted motion control schemes of a novel current collector manipulator to be mounted beneath a heavy hybrid electric vehicle to collect electric power from road embedded power lines. We describe our approach of power line detection and tracking based on an array of inductive proximity sensors. The emphasis is on the adopted motion control logic for sequential and closed loop motions to detect and track the power line respectively. We implement the sliding mode control approach for the closed loop control scheme as straightforward solution given the binary nature of the inductive proximity sensors being used. The overall architecture of the entire motion control system is presented. Finally, the implementation of the entire control logic in a form of a state machine is discussed.

  • 16.
    Ananiev, Anani
    et al.
    Örebro University, Department of Technology.
    Michelfelder, Thorsten
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Driving redundant robots by a dedicated clutch-based actuator2007In: Robot motion and control 2007 / [ed] Krzysztof Kozłowski, Berlin: Springer , 2007, p. 167-176Conference paper (Other academic)
    Abstract [en]

    The redundancy in the body construction of humans and animals makes them very adaptable for a wide variety of natural environments. By switching/activating/deactivating they can accommodate the necessary locomotion for performing almost any task in their lifes. Therefore redundant and hyper-redundant robots are at the focus of research world-wide. The existing hyper-redundant robotic platforms are built in a plenty of mechanical constructions and purposes of use, but have a limited number of useful features that, unfortunately, limit their applicability in some important areas.

  • 17.
    Dandan, Kinan
    et al.
    Örebro University, School of Science and Technology.
    Albitar, Houssam
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Motion Control of Siro: The Silo Cleaning Robot2015In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 12, article id 184Article in journal (Refereed)
    Abstract [en]

    Both the principle of operation and the motion-control system of a suspended robot for surface cleaning in silos are presented in this paper. The mechanical design is a reasonable compromise between basically contradictory factors in the design: the small entrance and the large surface of the confined space, and the suspension and the stabilization of the robot. The design consists of three main parts: a support unit, the cleaning robot and a cleaning mechanism. The latter two parts enter the silo in a folded form and, thereafter, the robot’s arms are spread in order to achieve stability during the cleaning process. The vertical movement of the robot is achieved via sequential crawling motions.

    The control system is divided into two separate subsystems, the robot’s control subsystem and a support-unit control subsystem, in order to facilitate different operational modes. The robot has three principle motion-control tasks: positioning the robot inside the silo, holding a vertical position during the cleaning process and a crawling movement.

    A scaled prototype of the robot has been implemented and tested to prove the concept, in order to make certain that the mechanical design suits the main functions of the robotic system, to realize the robot’s design in an industrial version and to test it in a realistic environment.

  • 18.
    Dandan, Kinan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Ivan, Kalaykov
    Örebro University, School of Science and Technology.
    SIRO: the silos surface cleaning robot concept2013Conference paper (Refereed)
    Abstract [en]

    A concept of a suspended robot for surface cleaning in silos is presented in this paper. The main requirements and limitations resulting from the specific operational conditions are discussed. Due to the large dimension of the silo as a confined space, specific kinematics of the robot manipulator is proposed. The major problems in its design are highlighted and an approach to resolve them is proposed. The suggested concept is a reasonable compromise between the basic contradicting factors in the design: small entrance and large surface of the confined space, suspension and stabilization of the robot

  • 19.
    Dandan, Kinan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Modeling and simulation of a silo cleaning robot2014In: Mobile Service Robotics / [ed] Krazystof Kotowski, Mohammad O Tokhi and Gurvinder S Virk, Singapore: World Scientific, 2014, p. 627-635Conference paper (Refereed)
    Abstract [en]

    A suspended robot for surface cleaning in silos is presented in this paper. Thesuggested concept is a reasonable compromise between the basic contradictingfactors in the design: small entrance and large surface of the confined space,suspension and stabilization of the robot. A dynamic study for the suspendedrobot is presented in this paper. A dynamic simulation in MSC ADAMS iscarried out to confirm the results from the theoretic study.

  • 20.
    Garipov, Emil
    et al.
    Technical University of Sofia, Bulgaria.
    Stoilkov, Teodor
    Technical University of Sofia, Bulgaria.
    Kalaykov, Ivan
    Örebro University, Department of Natural Sciences.
    Multiple regressive model adaptive control2008In: New developments in robotics automation and control / [ed] Aleksandar Lazinica, Rijeka, Croatia: InTech , 2008, p. 59-84Chapter in book (Refereed)
  • 21. Garipov, Emil
    et al.
    Stoilkov, Teodor
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Multiple-model dead-beat controller in case of control signal constraints2007In: ICINCO 2007: proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics, Signal Processing, Systems Modeling and Control / [ed] Janan Zaytoon, Jean-Louis Ferrier, Juan Andrade-Cetto, Joaquim Filipe, INSTICC Press , 2007, p. 171-177Conference paper (Refereed)
    Abstract [en]

    The task of achieving a dead-beat control by a linear DB controller under control constraints is presented in this paper. Two algorithms using the concept of multiple-model systems are proposed and demonstrated - a multiple-model dead-beat (MMDB) controller with varying order using one sampling period and a MMDB controller with fixed order using several sampling periods. The advantages and disadvantages of these controllers are summarized.

  • 22.
    Iliev, Boyko
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Improved sliding mode robot control: a fuzzy approach2002In: Proceedings of the third international workshop on robot motion and control, 2002. RoMoCo '02, 2002, p. 393-398Conference paper (Refereed)
    Abstract [en]

    An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator. This new algorithm provides nearly time-optimal performance and still retains the robustness, typical for systems in sliding mode. The maximum slope sliding surfaces are designed using knowledge about robot's physical properties.

  • 23.
    Iliev, Boyko
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Minimum-time sliding mode control for second-order systems2004In: Proceedings of the 2004 American control conference, 2004: vol 1, 2004, p. 626-631Conference paper (Refereed)
    Abstract [en]

    Our approach for near time-optimal control is based on Takagi-Sugeno fuzzy model of the maximum slope SMC sliding surface as an adaptive technique for tuning the current slope of the sliding surface to the maximum feasible slope depending on the current state of system. The stability conditions of this method are proved and respective measures about the feasible maximum slope are presented. Experimental results demonstrate the system behaviour.

  • 24.
    Kalaitzaki, Argyro
    et al.
    National Hellen Research Foundation, Institute for Biol Med Chem & Biotechnol, Athens 11635, Greece ; MTM Res Ctr, Sch Sci & Technol, Univ Örebro, Örebro, Sweden.
    Emo, Melanie
    Structure et Réactivité des Systèmes Moléculaires Complexes (SRSMC), Centre national de la recherche scientifique, Univ Lorraine, Vandoeuvre Les Nancy, France.
    Stebe, Marie Jose
    Structure et Réactivité des Systèmes Moléculaires Complexes (SRSMC), Centre national de la recherche scientifique, Univ Lorraine, Vandoeuvre Les Nancy, France.
    Xenakis, Aristotelis
    Institute of Biology, Medicinal Chemistry and Biotechnology, National Hellen Resaearch Foundation, Athens, Greece; School of Science and Technology, Örebro University, Örebro, Sweden.
    Papadimitriou, Vassiliki
    Institute of Biology, Medicinal Chemistry and Biotechnology, National Hellen Resaearch Foundation, Athens, Greece.
    Biocompatible nanodispersions as delivery systems of food additives: a structural study2013In: Food Research International, ISSN 0963-9969, E-ISSN 1873-7145, Vol. 54, no 2, p. 1448-1454Article in journal (Refereed)
    Abstract [en]

    Nanodispersions based on food grade biocompatible materials were developed and structurally characterized to be used as carriers of bioactive compounds with specific nutritional value. The main idea was to formulate concentrated solutions of specific food components at the nanoscale to be consumed either on their own or as integrating parts of classic foods, upon aqueous dilution. For this purpose microemulsions consisting of (R)-(+)-limonene/ethanol/Tween 40/water/propylene glycol were formulated in the presence and in the absence of squalene, gallic acid and octyl gallate. The limits of the single-phase region as described by pseudo-ternary phase diagrams were related to the nature of the food additive. The more extended monophasic region was obtained when octyl gallate was added in the system. Interfacial properties of the microemulsions were studied by electron paramagnetic resonance (EPR) spectroscopy employing the nitroxide spin probe 5-doxylstearic acid (5-DSA). In general guest molecules decreased the flexibility of the surfactant monolayer as manifested from the calculation of rotational correlation time (T-R) and order parameter S of 5-DSA. Particle size measurements were performed using dynamic light scattering (DLS) and oil droplet diameters in the range of 11.7 to 17.4 nm were observed. The addition of squalene resulted in the formulation of larger oily droplets whereas octyl gallate formed smaller ones. Finally SAXS experiments provided qualitative information of o/w microemulsions showing squalene solubilization in the dispersed oily phase, octyl gallate localization on the membrane and gallic acid solubilization in the continuous aqueous phase. (C) 2013 Elsevier Ltd. All rights reserved.

  • 25.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    New speed limits of the fuzzy controller hardware1999Conference paper (Refereed)
    Abstract [en]

    Implementation of very fast fuzzy controllers is proposed. The state of fuzzy control system is presented by moving fired-rules-hyper-cube (FRHC) in phase space. Only rules inside FRHC are fired and processed in parallel, thus speeding up the fuzzy inference. Some fuzzy controller structures are discussed with estimation of the speed

  • 26.
    Kalaykov, Ivan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Iliev, Boyko
    Örebro University, School of Science and Technology.
    SME robotics demand flexible grippers and fixtures2008In: Proc. 39th Int. Symposium on Robotics, Seoul, Korea, 2008, p. 62-65Conference paper (Refereed)
  • 27.
    Kalaykov, Ivan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Iliev, Boykov
    Örebro University, School of Science and Technology.
    Flexible grippers and fixtures2008Conference paper (Refereed)
  • 28.
    Kalaykov, Ivan
    et al.
    Örebro University, Department of Technology.
    Iliev, Boyko
    Örebro University, Department of Technology.
    Time-optimal sliding mode control of robot manipulator2000In: 26th annual conference of the IEEE industrial electronics society: IECON 2000, 2000, p. 265-270Conference paper (Refereed)
    Abstract [en]

    We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties.

  • 29.
    Kalaykov, Ivan
    et al.
    Örebro University, Department of Technology.
    Tolt, Gustav
    Örebro University, Department of Technology.
    Fast fuzzy signal and image processing hardware2002In: Proceedings, NAFIPS 2002: Annual meeting of the North American fuzzy information processing society, 2002, 2002, p. 7-12Conference paper (Refereed)
    Abstract [en]

    The paper presents the development of fast fuzzy logic based hardware for various applications such as controllers for very fast processes, real-time image processing and pattern recognition. It is based on the fired-rules-hyper-cube (FRHC) concept, characterized by extremely simple way of the fuzzy inference in a layered parallel architecture. The processing time slightly depends on the number of inputs of the fuzzy system and does not depend on the number of rules and fuzzy partitioning of all variables. Most important is the inherent high speed of processing because of the parallelism and pipelining, implemented in all layers.

  • 30.
    Kalaykov, Ivan
    et al.
    Örebro University, Department of Technology.
    Wide, Peter
    Örebro University, Department of Technology.
    Intelligent feature estimation, based on human's perceptual features2003In: IEEE international workshop on soft computing techniques in instrumentation, measurement and related applications, 2003: SCIMA 2003, 2003, p. 44-48Conference paper (Refereed)
    Abstract [en]

    The paper presents a relatively new human-computer interaction paradigm, where a human operator's perceptual actions are mimicked by the computer. In this sensor controlled system concept, we estimate a specific feature characterizing, for example, product quality, and apply intelligent analysis and an optimization to assess product quality as acquired by a human expert. The human operator contributes his/her intelligence to this man-machine interaction through learning the measurement system. An illustrative example shows how the human operator's knowledge and experience are learned by a sensor based system within a complex dough mixing optimization process in an industrial bread baking plant. The resulting sensor system acts as an intelligent feature estimator in a complex industrial process for monitoring the dynamical behavior there. The system allows easy sensor observation and makes decisions based on learning interaction with a human.

  • 31.
    Soron, Mikael
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    A robot prototype for friction stir welding2006In: 2006 IEEE Conference on Robotics, Automation and Mechatronics, 2006, p. 1-5Conference paper (Refereed)
    Abstract [en]

    To apply industrial robots in friction stir welding (FSW) for difficult-to-weld materials and alloys has until recently been a proposed task. However, yet the laboratory experiments did not provide a feasible industrial application. We describe our approach to modify and provide an industrial robot with FS-welding capacity by modifying a standard industrial robot through replacing its sixth axis with FSW related equipment. The emphasis is on achieving reasonable welding speed and path complexity in 3D space. As significant force is needed for FSW and at the same time position precision has to be kept, the control problems become complicated. We demonstrate our first experiments, highlighting this problem and point some possible solutions

  • 32.
    Soron, Mikael
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Blending tool paths for G1-continuity in robotic friction stir welding2007In: Proceedings of the fourth international conference on informatics in control, automation and robotics, Robotics and automation 2, Angers, France, May 9-12, 2007 / [ed] Janan Zaytoon, Jean-Louis Ferrier, Juan Andrade-Cetto, Joaquim Filipe, 2007, p. 92-97Conference paper (Other academic)
    Abstract [en]

    In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction StirWelding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G1 continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.

  • 33.
    Soron, Mikael
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Blending tool paths for G1-continuity in robotic friction stir welding2007Conference paper (Refereed)
    Abstract [en]

    In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G1 continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.

  • 34.
    Soron, Mikael
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Blending tool paths for G1-continuity in robotic friction stir welding2007Conference paper (Refereed)
    Abstract [en]

    In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G1 continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.

  • 35.
    Soron, Mikael
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Generation of continuous tool paths based on CAD models for friction stir welding in 3D2007In: Mediterranean conference on control and automation, MED '07 Athens, Greece, 2007, New York: IEEE , 2007, p. 1-5Conference paper (Refereed)
    Abstract [en]

    Friction Stir Welding (FSW) in 3-dimensions, due to process constraints, requires an off-line programming approach. The creation of tool paths based on computer aided models for cutting, machining or traditional welding, exists in numerous of applications. But since FSW, until recently, have not been a 3-dimensional application, no proper solution for this process exists. In this paper we propose solutions on how to create FSW tool paths based on the geometric description of CAD models to auto create and export such to the executing control system. The emphasis is on extracting and evaluating the weldability of the defined segments in order to perform robust welding on complex weld seam geometries.

  • 36.
    Soron, Mikael
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Online path generation for robotic friction stir welding2006Conference paper (Other academic)
  • 37.
    Tolt, Gustav
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    A fuzzy-similarity-based approach for high-speed real-time image processing2005In: Intelligent Control, 2005 : Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation , 2005, p. 1240-1245Conference paper (Refereed)
    Abstract [en]

    In this paper, we present a number of algorithms for performing some basic image processing tasks. The common denominator is the fuzzy similarity framework, that is used for representing vagueness and uncertainty associated with the similarity concept. The algorithms are designed so as to be implementable on FPGAs, making extensive use of the FPGA's parallel processing capabilities. Due to the limited space, we give pointers to previously published work for more details about the algorithms

  • 38.
    Tolt, Gustav
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Fuzzy-similarity-based noise cancellation for real-time image processing2001Conference paper (Refereed)
    Abstract [en]

    We introduce a new algorithm for image noise cancellation based on fuzzy similarity and homogeneity. The proposed method allows simple tuning of fuzzy filter properties and it is very convenient for high-speed real-time image processing. A detailed analysis of the filter properties is presented to support tuning its parameters for a particular application. Test examples and comparisons with other image noise cancellation techniques show the advantages of the method.

1 - 38 of 38
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