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2009 6th International Symposium on Mechatronics and its Applications最新文献

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Quadrotor control using feedback linearization with dynamic extension 四旋翼控制采用反馈线性化与动态扩展
2009 6th International Symposium on Mechatronics and its Applications Pub Date : 2009-03-23 DOI: 10.1109/ISMA.2009.5164788
S. Al-Hiddabi
{"title":"Quadrotor control using feedback linearization with dynamic extension","authors":"S. Al-Hiddabi","doi":"10.1109/ISMA.2009.5164788","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164788","url":null,"abstract":"The contribution of this paper is the development of a nonlinear position controller for a quadrotor VTOL aircraft using feedback linearization with dynamic extension. The developed controller completely decouples and linearizes the nonlinear dynamical model of the aircraft. The use of dynamic extension has resulted into a fourteenth dimensional controller for the the twelve dimensional state system. Simulation results are provided to demonstrate the effectiveness of the nonlinear controller in tracking time-parameterized trajectories in inertial frame with internal stability.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124218702","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 57
A graph-coloring-based navigational algorithm for personnel safety in nuclear applications 核应用中基于图形着色的人员安全导航算法
2009 6th International Symposium on Mechatronics and its Applications Pub Date : 2009-03-23 DOI: 10.1109/ISMA.2009.5164808
M. Khasawneh, M. Malkawi, T. Hayajneh
{"title":"A graph-coloring-based navigational algorithm for personnel safety in nuclear applications","authors":"M. Khasawneh, M. Malkawi, T. Hayajneh","doi":"10.1109/ISMA.2009.5164808","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164808","url":null,"abstract":"In this paper, we propose a navigational algorithm that fuses and synthesizes data from multiple sensors. This algorithm, based on graph coloring theory and wireless communication of data, can be applied for personnel guidance through potentially hazardous radiation areas at nuclear facilities. The proposed algorithm relies upon coloring of the links (paths) involved in a way that would lead to rapid convergence of the edges within a graph, which, in turn, leads to improved navigational guidance of occupational workers alongside paths of minimum radiation. Verification of algorithm functionality is done via MATLAB simulations while considering the case of a radiation leak following a given accident scenario. Furthermore we test the robustness of the supporting network infrastructure using OPNET under proposed design layout.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122733940","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Reconfigurable patch antenna by RF MEMS switches 可重构贴片天线由射频MEMS开关
2009 6th International Symposium on Mechatronics and its Applications Pub Date : 2009-03-23 DOI: 10.1109/ISMA.2009.5164796
A. Z. Zahirul Alam, M. R. Islam
{"title":"Reconfigurable patch antenna by RF MEMS switches","authors":"A. Z. Zahirul Alam, M. R. Islam","doi":"10.1109/ISMA.2009.5164796","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164796","url":null,"abstract":"A planar reconfigurable microstrip antenna is proposed by using RF MEMS switches. The proposed antenna structure comprises a center patch antenna known as driven patch and two adjacent microstrip patches defined as wing patches. Cantilever MEMS bridges are introduced to provide to operate antenna either 21.73 GHz or 23.6 GHz depending on the position of the MEMS switches. The design is performed by using 3D electromagnetic simulator HFSS considering ideal MEMS switches.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122004206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Robicle(robotic vehicle) as mechatronics and its applications 作为机电一体化的机器人车辆及其应用
2009 6th International Symposium on Mechatronics and its Applications Pub Date : 2009-03-23 DOI: 10.1109/ISMA.2009.5164844
Y. Ryoo, Dae-Yeong Im, Yong-Jun Lee
{"title":"Robicle(robotic vehicle) as mechatronics and its applications","authors":"Y. Ryoo, Dae-Yeong Im, Yong-Jun Lee","doi":"10.1109/ISMA.2009.5164844","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164844","url":null,"abstract":"As a good mechatronics application, robicle(robotic vehicle) is described in this paper. Robicle(robotic vehicle) is a synergetic integration of robotic intelligence and vehicular mobility. As examples of robicle technology, vision based robicle and magnet based robicle are described. Also, the experimental setups of vision based robicle and magnet based robicle are described.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126939728","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Increasing the speed of Model-based detection and tracking through Wavelet transform 利用小波变换提高基于模型的检测和跟踪速度
2009 6th International Symposium on Mechatronics and its Applications Pub Date : 2009-03-23 DOI: 10.1109/ISMA.2009.5164805
Mohammadreza Pourfard, K. Faez, M. Abdollahifard
{"title":"Increasing the speed of Model-based detection and tracking through Wavelet transform","authors":"Mohammadreza Pourfard, K. Faez, M. Abdollahifard","doi":"10.1109/ISMA.2009.5164805","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164805","url":null,"abstract":"Methods for tracking an object are being categorized to four groups: Region-Based, Model-Based, Feature-Based and Active Contour. Each of these methods has its own advantage and disadvantages. Model-based is very accurate but its computational time is very high and this causes problems in tracking especially in real-time applications. In model-based method, firstly we must adapt an object to the different frames of the video and then try to track it. Here we have proposed a new method that reduces the time of tracking very tangibly and are tested in two human body databases (CASIA and Mocap) with remarkable improvement in results.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129486705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Performance assessment of a decentralized controller for cooperative manipulators; numerical and experimental study 协作机械手分散控制器的性能评估数值与实验研究
2009 6th International Symposium on Mechatronics and its Applications Pub Date : 2009-03-23 DOI: 10.1109/ISMA.2009.5164842
Ahmad Ghasemi, M. Keshmiri
{"title":"Performance assessment of a decentralized controller for cooperative manipulators; numerical and experimental study","authors":"Ahmad Ghasemi, M. Keshmiri","doi":"10.1109/ISMA.2009.5164842","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164842","url":null,"abstract":"There are two possible methods for controlling the manipulators that cooperate in carrying an object: using a single central controller for the whole set and using decentralized controllers for each manipulator. Using the first method requires a perfect knowledge of the whole system's dynamics and the carried object. Due to implementation problems, among them the uncertainty about the manipulated object's mass, using this method is impractical. This makes using the second method inevitable. In this method, manipulators are controlled separately and they are unaware of each other's condition. The effect of each manipulator on the other one is like a disturbance. In this paper, the performance of second method is analyzed by numerical methods. For confirming the results experimentally, this method has been implemented on an experimental setup. The results indicate the desirable performance of this method.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121811416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
K-12 mechatronics education in the UAE: Challenges and promises 阿联酋的K-12机电一体化教育:挑战与承诺
2009 6th International Symposium on Mechatronics and its Applications Pub Date : 2009-03-01 DOI: 10.1109/ISMA.2009.5164822
Ra'a A. Said, Tamara Al Ashal, Abdullatif Al Shamsi
{"title":"K-12 mechatronics education in the UAE: Challenges and promises","authors":"Ra'a A. Said, Tamara Al Ashal, Abdullatif Al Shamsi","doi":"10.1109/ISMA.2009.5164822","DOIUrl":"https://doi.org/10.1109/ISMA.2009.5164822","url":null,"abstract":"IAT has adopted a Career-Technical Education program in direct response to the UAE needs of well-prepared Emirati scientists, engineers, and technicians who can rise to the challenges of the 21st century.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124574428","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Real-time machine controller verification and simulation using control signals emulation 利用控制信号仿真进行实时机器控制器验证和仿真
2009 6th International Symposium on Mechatronics and its Applications Pub Date : 1900-01-01 DOI: 10.1109/isma.2009.5164843
M. Hussein, Mohd. Zarhamdy Mohd. Zain, R. Ahmad, M. Y. Abdullah
{"title":"Real-time machine controller verification and simulation using control signals emulation","authors":"M. Hussein, Mohd. Zarhamdy Mohd. Zain, R. Ahmad, M. Y. Abdullah","doi":"10.1109/isma.2009.5164843","DOIUrl":"https://doi.org/10.1109/isma.2009.5164843","url":null,"abstract":"The research study explores different types of controller simulation and verification methods and proposes a new method which employs the use of a control signals emulator. The research study has formulated a novel technique for emulating quadrature encoder signals to provide virtual closed loop control of servomotors. The deployment of a control signal emulator technique makes the system unique and removes its dependency on proprietary hardware or software. Enabling the real-time data from the signal emulation environment eases the task of realising a real-time machine simulator.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126063659","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Dynamic motion planning for autonomous mobile robot using fuzzy potential field 基于模糊势场的自主移动机器人动态运动规划
2009 6th International Symposium on Mechatronics and its Applications Pub Date : 1900-01-01 DOI: 10.1109/isma.2009.5164840
M. Jaradat, Mohammad H. Garibeh, E. Feilat
{"title":"Dynamic motion planning for autonomous mobile robot using fuzzy potential field","authors":"M. Jaradat, Mohammad H. Garibeh, E. Feilat","doi":"10.1109/isma.2009.5164840","DOIUrl":"https://doi.org/10.1109/isma.2009.5164840","url":null,"abstract":"A new fuzzy potential field is presented for autonomous mobile robot motion planning with dynamic environments. Two fuzzy models have been used to accomplish the total attractive and repulsive forces acting on the mobile robot. The proposed fuzzy potential field motion planning was investigated based on several conducted simulation scenarios for robot motion planning within realistic dynamic environments. As it was noticed from these simulations the proposed approach was able to provide the robot with collision free path to softly land on the moving target and solved the local minimum problem within any stationary or dynamic environment compared to other potential field based approaches.","PeriodicalId":122255,"journal":{"name":"2009 6th International Symposium on Mechatronics and its Applications","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124780763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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