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Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics最新文献

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Analog processing electronics in intelligent sensors for advanced robotics 先进机器人智能传感器中的模拟处理电子学
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339301
A. Gandelli, R. Ottoboni
{"title":"Analog processing electronics in intelligent sensors for advanced robotics","authors":"A. Gandelli, R. Ottoboni","doi":"10.1109/IECON.1993.339301","DOIUrl":"https://doi.org/10.1109/IECON.1993.339301","url":null,"abstract":"Modern robots need advanced and high-level sensors to recognize the external environment in which they work and provide correct feedback on the electronic drives producing their motion. One of the most important and critical class of sensing element is represented by tactile sensors. In particular piezoelectric tactile sensors for robotics show primary requirements in terms of analog processing features. Charge amplifiers designed for this purpose are examined from the theoretical and experimental point of view evidencing the performance and limits in their application. Balanced charge-amplifier circuits are presented and analyzed in order to overcome the intrinsic disadvantages of the previous version of charge amplifiers. Several considerations from the measurement accuracy and reliability point of view are included.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123841391","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: 2
Robust control of robot manipulators based on disturbance observer in task space 基于任务空间扰动观测器的机械臂鲁棒控制
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339274
S. Komada, Y. Ohkouchi, M. Ishida, T. Hori
{"title":"Robust control of robot manipulators based on disturbance observer in task space","authors":"S. Komada, Y. Ohkouchi, M. Ishida, T. Hori","doi":"10.1109/IECON.1993.339274","DOIUrl":"https://doi.org/10.1109/IECON.1993.339274","url":null,"abstract":"A robust and high response hybrid position/force control strategy based on controlling the second derivatives of control variables in task space such as position and force is proposed. A position-based disturbance observer and a force-based disturbance observer in task space are used to control the second derivatives of position and force, respectively. Experiments are performed by a direct drive robot to show the effectiveness of the proposed strategy. In this paper, two types of inverse kinematics (inverse Jacobian matrix and transposed Jacobian matrix) are tested and compared each other. The analysis and the experiments show that there is a trade-off between the performance and the computation effort of two inverse kinematics.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123991943","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
Variable structure model reference adaptive control using only input and output measurements with two sliding surfaces 变结构模型参考自适应控制只使用两个滑动表面的输入和输出测量
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339413
A. S. Nouri, C. Mira, P. Lopez
{"title":"Variable structure model reference adaptive control using only input and output measurements with two sliding surfaces","authors":"A. S. Nouri, C. Mira, P. Lopez","doi":"10.1109/IECON.1993.339413","DOIUrl":"https://doi.org/10.1109/IECON.1993.339413","url":null,"abstract":"In the case of linear and nonlinear dynamical systems generally, the full state vector is unknown on account to the nature of the system and the difficulty of the measure of some components of the state vector. The objective of this paper is an experimental comparison between two different sliding surface algorithms applied to the two real one link manipulators. The first algorithm is a variable structure adaptive control with reference model using only the measurements of input and output (with two sliding surfaces); the other algorithm is a variable structure adaptive control with reference model using the full state vector (with one sliding surface).<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123673258","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: 6
Neutral-point-clamped inverter with improved voltage waveform and control range 中性点箝位逆变器具有改进的电压波形和控制范围
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339244
R. Rojas, T. Ohnishi, Takayuki Suzuki
{"title":"Neutral-point-clamped inverter with improved voltage waveform and control range","authors":"R. Rojas, T. Ohnishi, Takayuki Suzuki","doi":"10.1109/IECON.1993.339244","DOIUrl":"https://doi.org/10.1109/IECON.1993.339244","url":null,"abstract":"A new control method for neutral-point-clamped (NPC) inverters based on closed-loop regulation of the line-to-line output voltages is proposed. The method uses independent hysteresis comparator controllers to regulate the direct and quadrature axis components of the three phase output voltages. Main problems of NPC inverters such as neutral point potential variations and distortion at low input references are solved by the simple control scheme even when low-speed devices are used. In addition, the control method offers a wider control range and fast response. Computer simulations and experimental results are given to confirm the validity of the proposed control scheme.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121430099","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: 26
Continuous overlap pursuit method to detect moving objects in natural scenes 自然场景中运动物体的连续重叠追踪检测方法
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339346
Y. Fuwa, Y. Shimokawa, A. Inada
{"title":"Continuous overlap pursuit method to detect moving objects in natural scenes","authors":"Y. Fuwa, Y. Shimokawa, A. Inada","doi":"10.1109/IECON.1993.339346","DOIUrl":"https://doi.org/10.1109/IECON.1993.339346","url":null,"abstract":"To detect moving objects in natural scenes by image data, the authors have developed an object detection algorithm called the continuous overlap pursuit (COP) method. The COP method, which uses continuous plural image data and pursues difference images, can detect moving objects even with much background noise such as swinging trees, white noise, and changes of brightness and other factors in the image data. The COP method is constructed by basic image processing, so it is applied easily to image processing hardware for real-time recognition.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116189115","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
Application of associative memory neural networks to the control of a switched reluctance motor 联想记忆神经网络在开关磁阻电机控制中的应用
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339081
D. Reay, T. Green, B. Williams
{"title":"Application of associative memory neural networks to the control of a switched reluctance motor","authors":"D. Reay, T. Green, B. Williams","doi":"10.1109/IECON.1993.339081","DOIUrl":"https://doi.org/10.1109/IECON.1993.339081","url":null,"abstract":"The application of an associative memory neural network to the problem of torque ripple minimisation in a switched reluctance motor is presented. Conventional techniques for torque linearisation and decoupling are reviewed, after which the application of neural techniques to the problem is described. An instrumented test rig based around a 4 kW IGBT converter and a four phase switched reluctance motor has been constructed. Results obtained experimentally and by simulation demonstrate the effectiveness of the approach. The neural network has been implemented using both digital signal processor and field programmable gate array technologies.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121544124","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: 35
A direct measuring method of machine parameters for vector-controlled induction motor drives 一种直接测量矢量控制感应电动机传动装置参数的方法
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339138
K. Tungpimolrut, F. Peng, T. Fukao
{"title":"A direct measuring method of machine parameters for vector-controlled induction motor drives","authors":"K. Tungpimolrut, F. Peng, T. Fukao","doi":"10.1109/IECON.1993.339138","DOIUrl":"https://doi.org/10.1109/IECON.1993.339138","url":null,"abstract":"A novel and simple offline measuring method for machine parameters of induction motors is presented. The proposed method requires only the knowledge of terminal voltages after the stator current is interrupted. Thus, it can apply to measure machine parameters of induction motor driven by usual PWM inverter. The measuring method is effectively accomplished under any operating conditions including at stationary state. In particular, rotor circuit time constant can be precisely measured without skin effect influence. In this paper, machine parameters obtained from a conventional method and the proposed method are compared. Experiments are performed on a high speed induction motor.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126335857","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: 2
The development of an outline image processor 一种轮廓图像处理器的研制
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339427
S. Kurono, A. Aramaki
{"title":"The development of an outline image processor","authors":"S. Kurono, A. Aramaki","doi":"10.1109/IECON.1993.339427","DOIUrl":"https://doi.org/10.1109/IECON.1993.339427","url":null,"abstract":"In research for robotics, one usually needs a high-speed, low-cost, and easy-to-use visual sensor which can be used to control a robot in real time. The authors have developed an \"outline image processor\" which is controlled by an 8 bit microprocessor Z80 and is able to take the coordinates (x, y) of the outline of objects into the memory. Moreover, the processor is able to compute the characteristic sizes and direction of the objects and transmit them to the host computer.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126443019","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
Measurement of oxygen saturation utilizing spectrophotometric determination 用分光光度法测定氧饱和度
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.339300
E. Okada, Y. Shinozaki, H. Minamitani
{"title":"Measurement of oxygen saturation utilizing spectrophotometric determination","authors":"E. Okada, Y. Shinozaki, H. Minamitani","doi":"10.1109/IECON.1993.339300","DOIUrl":"https://doi.org/10.1109/IECON.1993.339300","url":null,"abstract":"In this study a new technique to measure oxygen saturation in a single microvessel utilizing spectrophotometric determination is proposed. In principle the oxygen saturation can be measured by the optical methods which are based on Beer-Lambert law. However, light attenuation by cell scattering causes error of the measurement. To eliminate the influence of cell scattering, complete diffuse light was used in the proposed technique. The effect of using complete diffuse light was ascertained by the in-vitro experiments. The change of the oxygen saturation in the microvessel of rat mesentery was measured with the proposed technique. The experiments showed that the technique was possible to measure the oxygen saturation in the single microvessel.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"18 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126567019","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
Sensorless operation of brushless DC motor drives 无刷直流电机驱动的无传感器操作
Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI: 10.1109/IECON.1993.338989
N. Matsui
{"title":"Sensorless operation of brushless DC motor drives","authors":"N. Matsui","doi":"10.1109/IECON.1993.338989","DOIUrl":"https://doi.org/10.1109/IECON.1993.338989","url":null,"abstract":"The brushless DC motor requires position and speed sensors for control. However, it is desirable to eliminate these sensors from the standpoints of size and cost reduction, maintenance and reliability. The approach to the sensorless operation becomes different, depending on the flux distribution. The paper presents the speed and position sensorless control of the brushless DC motor with a sinusoidal flux distribution, which provides high quality torque control. Two approaches are presented and compared; one is based on the voltage model of the motor and the other is based on the current model. Experimental results using a 1.2 kW, 164 V, 1200 RPM, six-pole motor which is controlled by a TMS320C25 DSP are shown for comparison, which demonstrate desired characteristics both in steady state and starting condition.<<ETX>>","PeriodicalId":132101,"journal":{"name":"Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics","volume":"96 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127997854","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: 63
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