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2010 IEEE International Conference on Mechatronics and Automation最新文献

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Lift-down trajectory generation for multi-joint robot based on repeatedly direct kinematics algorithm 基于重复直接运动学算法的多关节机器人升降轨迹生成
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588649
Qin Zhang, Zhibin Wu, Y. Kamiya, Bo Wang
{"title":"Lift-down trajectory generation for multi-joint robot based on repeatedly direct kinematics algorithm","authors":"Qin Zhang, Zhibin Wu, Y. Kamiya, Bo Wang","doi":"10.1109/ICMA.2010.5588649","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588649","url":null,"abstract":"This paper proposes repeatedly direct kinematics (RDK) algorithm to trajectory generation of a multi-joint robot in lift-down movements. For trajectory generation of the multi-joint robot, three constraints are considered. They are no turnover, the joint limits and the torque limits of the robot. Safety factor is set in order to ensure the stability of robot. The emphasis of the study is placed on using repeatedly direct kinematics (RDK) algorithm to search for trajectory. The method is evaluating each joint torque rate and then updating robot posture. Simulation results of various lift-down movements are satisfactory.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115632050","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
An optimal method for bottleneck station short-term Scheduling in wafer fabrication line with nonzero initial state 非零初始状态晶圆生产线瓶颈工位短期调度优化方法
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589096
Ying Wu, F. Qiao, Li Li, Q. Wu
{"title":"An optimal method for bottleneck station short-term Scheduling in wafer fabrication line with nonzero initial state","authors":"Ying Wu, F. Qiao, Li Li, Q. Wu","doi":"10.1109/ICMA.2010.5589096","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589096","url":null,"abstract":"This paper presents initial results of a research in the short-term optimal scheduling on the photolithography station in wafer fabrication, which usually acts as a bottleneck station with multiple machines. It is desirable to minimize tardiness without loss the bottleneck utilization while today's wafer fabs are striving to maximize on delivery to their customers. Computational efficiency is one of the major challenges of applying short-term optimal scheduling of a wafer fab. This research adopts a scheduling policy that optimal scheduling for the heavily loaded bottleneck with an ant colony optimization (ACO) technique and heuristic rules for other lightly-workload stations, taking account of information of both online WIP and new release lots in scheduling horizon, which yields superior results with modest computational effort and enable the practical use of the optimal method.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"216 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124265334","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
The application of non-contact power transmission technology (NPT) in the modern transport system 非接触动力传动技术(NPT)在现代运输系统中的应用
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589068
Xian Zhang, Qingxin Yang, Haiyan Chen, Yang Li, Zhuo Yan
{"title":"The application of non-contact power transmission technology (NPT) in the modern transport system","authors":"Xian Zhang, Qingxin Yang, Haiyan Chen, Yang Li, Zhuo Yan","doi":"10.1109/ICMA.2010.5589068","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589068","url":null,"abstract":"Transferring power from station to users conveniently and efficiently is already available. NPT includs has three styles which are inductive power transmission(IPT), electromagnetic resonance(Witricity) and electromagnetic radiation, Principles of different NPT methods are disscussed in order to find what restricts its application. A new and potential application of NPT on Hybrid electric vehicle is proposed in this paper and hope will be useful to those who are interested in this field.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127130725","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
Design and research of piezoelectric pump with MEMS flow sensor 带有MEMS流量传感器的压电泵的设计与研究
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589156
Lin He, Jian-hong Zhang, Kun-ning Jia
{"title":"Design and research of piezoelectric pump with MEMS flow sensor","authors":"Lin He, Jian-hong Zhang, Kun-ning Jia","doi":"10.1109/ICMA.2010.5589156","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589156","url":null,"abstract":"This paper presents a large flow rate pump actuated by PZT bimorphs for fluidic systems. The pump is characterized by thin structure, large flow rate, low power consumption, etc. A prototype of the pump, with a size of 16mm, 16mm and 4 mm, is fabricated by precise manufacturing. Simulations and experiments showed that the piezoelectric pump has high efficiency and good performance. With a voltage of 120V, the flow rate is 15.3 ml/min in resonance and its power consumption is only 3.18mW. A robust passive high pressure check valve is developed for piezoelectric actuated pumps. A novel metal check valve flap is used to increase the valve's structural stiffness with pressures up to 23.6kPa. A series-wound multi-pump cavity structure prevents valve-flap failure under extreme high pressure. The valve-flap is also designed to work at frequency larger than 200 Hz. The valve-flap is fabricated with wire cut electric discharge machines. The whole valve weighs 4 g including packaging.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127181978","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
Numerical simulation and experimental research on the characteristic of pneumatic pressure measurement of spool valve orifice 滑阀阀口气动压力测量特性的数值模拟与实验研究
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589717
Xudong Pan, G. Wang, Baoliang Cheng, Guoyue Zhang
{"title":"Numerical simulation and experimental research on the characteristic of pneumatic pressure measurement of spool valve orifice","authors":"Xudong Pan, G. Wang, Baoliang Cheng, Guoyue Zhang","doi":"10.1109/ICMA.2010.5589717","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589717","url":null,"abstract":"The aim of this paper is to investigate the fluid dynamic behavior of a pneumatic pressure measurement method for the machining quality of servo-valve spool valves. By adopting a CFD technique, the numerical simulations of an ideal metering edge and a metering edge with round corner (fillet) of spool valve orifices are carried out respectively. Valve spool fillet is one of the major influencing factors for metering edge's pressure characteristic and nonlinearity of linearized characteristic curve Y−xv. The nozzle-flapper mechanism and the corresponding fixture are developed to replace ideal valve spool and sleeve. Finally, a pneumatic measuring experiment is performed to confirm and explain the simulation results.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127492476","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
A color daytime and nighttime image fusion algorithm based on IHS and Multi-Wavelet transform 基于IHS和多小波变换的彩色昼夜图像融合算法
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588643
Guoliang Tang, J. Pu, Zhongmin Cai, Xinhan Huang
{"title":"A color daytime and nighttime image fusion algorithm based on IHS and Multi-Wavelet transform","authors":"Guoliang Tang, J. Pu, Zhongmin Cai, Xinhan Huang","doi":"10.1109/ICMA.2010.5588643","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588643","url":null,"abstract":"A daytime and nighttime color image fusion method based on IHS transform and Multi-Wavelet transform is presented. The method can automatically merge images of a scene captured under different illumination and can be used for practical purposes. Specifically, the fused image can give more information of the context of night-time traffic videos, which makes them easier to be understood. The context is automatically captured by a camera in a fixed-position during daytime and then is fused into a nighttime image of the same scene. The advantages of this method are that it preserves the important local perceptual cues and it can avoid the problems with traditional methods such as aliasing, ghosting and haloing.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127520174","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
3D SLAM using IMU and its observability analysis 基于IMU的三维SLAM及其可观测性分析
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5587914
Farhad Aghili
{"title":"3D SLAM using IMU and its observability analysis","authors":"Farhad Aghili","doi":"10.1109/ICMA.2010.5587914","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5587914","url":null,"abstract":"This paper investigates 3-dimensional Simultaneous Localization and Mapping (SLAM) and the corresponding observability analysis by fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF). In addition to the vehicle's states and landmark positions, the self-tuning filter estimates the IMU calibration parameters as well as the covariance of the measurement noise. Examining the observability of the 3D SLAM system leads to the the conclusion that the system remains observable provided that the line connecting the two known landmarks is not collinear with the vector of total acceleration, i.e., the sum of gravitational and inertial accelerations.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125803610","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: 9
Supervisory control of a macro-micro parallel manipulator system 宏微并联机械手系统的监控
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588045
X. Duan, Y. Qiu, Jing-li Du, H. Bao
{"title":"Supervisory control of a macro-micro parallel manipulator system","authors":"X. Duan, Y. Qiu, Jing-li Du, H. Bao","doi":"10.1109/ICMA.2010.5588045","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588045","url":null,"abstract":"In order to achieve the high motion precision of the macro-micro parallel manipulator system for a radio telescope, a decoupled tracking and prediction algorithm based on principles of parallel mechanisms is presented. Then the adaptive interaction PID controller, which utilizes the adaptive interaction algorithm to tune the parameters of a canonical PID controller, is proposed as the supervisory controller in the joint space of the Stewart platform. Additionally, the digital servo filters with feedforward are employed in the lower level of the electrical cylinders. Experimental results validate the high precision of the macro-micro parallel manipulator system wit supervisory controller and the motion prediction algorithm.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125819264","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
Dynamic characteristics of hybrid maglev systems with different thickness permanent magnets 不同厚度永磁体混合磁悬浮系统的动态特性
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589463
Tongjuan Liu, Xiangguo Ma, Bingwu Liu
{"title":"Dynamic characteristics of hybrid maglev systems with different thickness permanent magnets","authors":"Tongjuan Liu, Xiangguo Ma, Bingwu Liu","doi":"10.1109/ICMA.2010.5589463","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589463","url":null,"abstract":"According to characteristic of the hybrid maglev systems, its mathematic model was built. At the same time, the simulation results and the experimental results of the dynamic characteristic compare of hybrid maglev system with different thickness permanent magnets are given by using the PID controller. The simulation results are consistent with the experimental ones. They show that the hybrid maglev system with different thickness permanent magnets can realize suspension steadily by using the same controller with the same controller parameters. The thicker permanent magnet is, the better dynamic characteristic of the system becomes. But there exists a best thickness of permanent magnet for one hybrid maglev system under certain conditions. This best value is the thickness which can provide the force that is close to the gravitation of hybrid maglev system.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125953228","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: 4
The control of a thermal system with large time delay using of LQG and Lead-Compensator 利用LQG和引线补偿器对大时滞热系统进行控制
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588796
Seiyed Hamid Zareh, A. F. Jahromi, M. Abbasi, A. Khayyat
{"title":"The control of a thermal system with large time delay using of LQG and Lead-Compensator","authors":"Seiyed Hamid Zareh, A. F. Jahromi, M. Abbasi, A. Khayyat","doi":"10.1109/ICMA.2010.5588796","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588796","url":null,"abstract":"This paper will first describe the Linear-Quadratic-Gaussian (LQG) and Lead-Compensator when the Proportional-Integral-Derivative (PID) controllers are inactive for procedures that have large delay time (LDT) in transfer stage. Therefore in those states, LQG and Lead Compensator perform better than the PID controllers. The constrained LQG is optimal and stabilizing. The solution algorithm is guaranteed to terminate in finite time with a computational cost that has a reasonable upper bound compared to the minimal cost for computing the optimal solution. In this work all actual working area condition for instance noises and disturbances are considered. Eventually, LQG and Lead Compensator have been designed for a thermal system, which circulates hot air to keep the temperature of a chamber constant and finally the results are analyzed and compared.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125416260","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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