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2010 IEEE International Conference on Mechatronics and Automation最新文献

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The error compensation design for transfer alignment 传递对准误差补偿设计
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5590202
Qi Nie, Xiaoying Gao, Zhiping Li, Ying Li, Cheng Jiao
{"title":"The error compensation design for transfer alignment","authors":"Qi Nie, Xiaoying Gao, Zhiping Li, Ying Li, Cheng Jiao","doi":"10.1109/ICMA.2010.5590202","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5590202","url":null,"abstract":"In this paper, three error compensation methods are devised to reduce the alignment errors induced by lever arm, body flexure, and measurement time delay respectively. A linear error model based on velocity and attitude is constructed for transfer alignment. Then, due to obviously different frequency distribution between disturbed acceleration produced by lever-arm effect and body itself acceleration, the Butterworth lowpass filter is designed to eliminate such influence. Moreover, with respect to the body flexure and time delay, Kalman filter is properly designed to restrain the effects by augmenting the flexure state and delay state into the conventional linear state equations. Specifically in flexure compensation, the two different transfer alignment modes as velocity and attitude matching algorithm and velocity and angular rate matching algorithm are compared to illuminate their performances. The simulation results show that the proposed methods are effective enough resulting in considerably less azimuth alignment errors.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"1 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":"129556122","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
Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot 一种新型轮椅机器人爬楼梯的构型及倾覆稳定性分析
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589079
Suyang Yu, Ting Wang, Xiaofan Li, Chen Yao, Zhong Wang, Di Zhi
{"title":"Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot","authors":"Suyang Yu, Ting Wang, Xiaofan Li, Chen Yao, Zhong Wang, Di Zhi","doi":"10.1109/ICMA.2010.5589079","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589079","url":null,"abstract":"In this paper, a wheelchair robot equipped with new-style variable-geometry-tracked mechanism is proposed. This new-style mechanism can adapt to convex terrain and turn to concave geometry by active control of track tension, based on which the terrain adaptability of the wheelchair robot is improved. Aiming at climbing stairs, the transformation rule of robot configuration is presented, the description of passenger's attitude and action is established. Following that, the tip-over stability analysis and simulation are performed with Force-Angle stability measure, and the variation of the tip-over stability margin of the robot under different conditions of passenger's attitude and action during stair-climbing is obtained. The analysis and simulation results provide a valid reference to the wheelchair robot's potential application.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"1 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":"129637207","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
Dynamic properties of feedback active noise control with sinusoidal primary noise 带正弦主噪声的反馈有源噪声控制的动态特性
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588444
Jian Liu, Jinwei Sun, Yegui Xiao, Lin Sun
{"title":"Dynamic properties of feedback active noise control with sinusoidal primary noise","authors":"Jian Liu, Jinwei Sun, Yegui Xiao, Lin Sun","doi":"10.1109/ICMA.2010.5588444","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588444","url":null,"abstract":"Feedforward active noise control (ANC) system requires a coherent reference signal. However, in many real-life applications, this reference signal may be unavailable. Feedback ANC systems are promising for such cases. So far, to the best of our knowledge, stochastic analysis of feedback ANC systems has not appeared, and our work is expected to fill in this gap. In this paper, dynamics of a feedback ANC system is analyzed in the context of sinusoidal noise control based on relationship of discrete Fourier coefficients among reference signal, secondary source, residual noise etc.. Difference equations governing the dynamics of the system are derived and discussed in detail. Extensive simulations are conducted to demonstrate the validity of the analytical results.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"92 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":"130537350","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
Development of flapping robots using piezoelectric fiber composites - development of driving module inspired by insects with indirect flight muscle 压电纤维复合材料扑翼机器人的研制——以具有间接飞行肌肉的昆虫为灵感的驱动模块研制
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588541
Yuichi Fukushima, K. Minagawa, A. Ming, M. Shimojo
{"title":"Development of flapping robots using piezoelectric fiber composites - development of driving module inspired by insects with indirect flight muscle","authors":"Yuichi Fukushima, K. Minagawa, A. Ming, M. Shimojo","doi":"10.1109/ICMA.2010.5588541","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588541","url":null,"abstract":"Recently, flapping robots are noticed by many researchers, and many challenges are being made toward the realization of flight motions like insects, birds and so on. The purpose of this work is to develop flapping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating as well as energy-harvesting fibers and sensing fibers can be embedded in the structure and it makes flapping robots with compact and light structure. This paper proposes a new driving mechanism for the flapping robots using piezoelectric fiber composites. The driving mechanism is inspired from insects with indirect flight muscle. A prototype of flapping robot using the new driving mechanism has been designed and experimental results show the feasibility of the proposed mechanism.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"1 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":"131382748","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
A deadlock prevention approach for a class of time Petri nets based on SCG 基于SCG的一类时间Petri网的死锁预防方法
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588968
Jinwei Guo, Zhiwu Li
{"title":"A deadlock prevention approach for a class of time Petri nets based on SCG","authors":"Jinwei Guo, Zhiwu Li","doi":"10.1109/ICMA.2010.5588968","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588968","url":null,"abstract":"To solve the problem of deadlock prevention for flexible manufacturing systems (FMS), an effective approach based on the State Class Graph (SCG) is proposed in a framework of time Petri nets (TPN). The first step determines the SCG of TPN. In the second step, since the SCG and discrete state graph (DSG) of a TPN have the same markings and obey the same linear temporal logic (LTL) properties, deadlock-freedom can be obtained by performing the required marking/transition separations. The theory of regions is used to design control places added to the original TPN model to realize the desired behavior. A parameterized example is used to show the performance of the proposed approach.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"192 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":"116523186","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
The multi-dimensional adaptive control system with reference model for the AUV 基于参考模型的水下航行器多维自适应控制系统
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588772
A. Lebedev
{"title":"The multi-dimensional adaptive control system with reference model for the AUV","authors":"A. Lebedev","doi":"10.1109/ICMA.2010.5588772","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588772","url":null,"abstract":"The new method of the synthesis of multidimensional adaptive control system with reference model self-adjustment for the centralized control of the spatial motion of autonomous underwater vehicles is developed in this paper. The conditions of the self-adjustment process stability with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of synthesized control laws allow to provide the high control quality at any variations of the object parameters within the given ranges. The amplitude of self-adjustment signal and energy losses in self-adjustment loop are reduced essentially in the proposed control system. The efficiency of control laws is confirmed by numerical simulation results.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"129 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":"127095691","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
Non-contact frost thickness measurement by using a micro-camera and image processing technology 采用微相机和图像处理技术进行非接触式霜厚测量
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589056
Dingyuan Wang, T. Tao, Shaoying Kang, Guanghua Xu
{"title":"Non-contact frost thickness measurement by using a micro-camera and image processing technology","authors":"Dingyuan Wang, T. Tao, Shaoying Kang, Guanghua Xu","doi":"10.1109/ICMA.2010.5589056","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589056","url":null,"abstract":"Frost thickness is a key parameter to examine the effect of frosting or defrosting in refrigeration field, but frost thickness is not easy to measure through traditional methods, for frost is soft and easily to be damaged by heat or pressure. Aim at the problem of frost thickness measurement, a measurement method based on a microscopic image system and image processing technology is brought forward, and the concept of bilateral frost thickness is proposed and explained. Experimental tests on the thickness of frost growing on the double sides of an aluminum sheet were carried out to clearly observe and record the dynamic growing process of tiny frost crystals. Experimental results show that the given measurement method does not undermine the patterns of frost during the whole frosting process, and it could observe frosting process easily, as well as measure the frost thickness with high accuracy. The given method is effective and it could be used to measure the growth of frost crystals and frost layer thickness on a cold surface, such as an aluminum sheet and a finned-tube evaporator.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"12 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":"127208025","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
Two-mode system for tank gunnery skill training based on haptic interaction 基于触觉交互的坦克射击技能双模训练系统
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588998
Keke Lu, Guanyang Liu, Yuru Zhang, Weidong Guo, Moyuan Zhou
{"title":"Two-mode system for tank gunnery skill training based on haptic interaction","authors":"Keke Lu, Guanyang Liu, Yuru Zhang, Weidong Guo, Moyuan Zhou","doi":"10.1109/ICMA.2010.5588998","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588998","url":null,"abstract":"A study on tank gunnery motor skill training is introduced in this paper. We developed a two-mode system used for teaching and training. In the haptic guidance mode, the trainee is passive and experiences position playback of the expert's motion with a proportional-derivation (PD) controller. In the path constraining mode, the trainee operates the haptic device actively, and the aiming point in the virtual environment is constrained on the desired path. A new haptic rendering algorithm is introduced in this mode. An experiment for record-play motion of drawing a virtual sine path and path constraining with drawing an envelope path is designed. Results indicate that the haptic rendering algorithm in the two-mode training system is stable.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"65 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":"127231101","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
Nonlinear control design for system with mechanical resonance based on two Tracking-Differentiators 基于双跟踪微分器的机械共振系统非线性控制设计
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588790
Pu Huang, W. Ge, Jun Li, J. Xiu, Youyi Li, Li Chen
{"title":"Nonlinear control design for system with mechanical resonance based on two Tracking-Differentiators","authors":"Pu Huang, W. Ge, Jun Li, J. Xiu, Youyi Li, Li Chen","doi":"10.1109/ICMA.2010.5588790","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588790","url":null,"abstract":"A nonlinear control strategy for controlling a motion system with mechanical resonance is presented in this paper. A mathematical model of the servo system is derived according to the parameters of an actual system. By using two Tracking-Differentiators, reference input and system output are tracked and their differential signals are given simultaneously. A nonlinear PD control law in velocity loop is designed based on non-smooth feedback. The simulation results show that the control law is superior remarkably in performance to linear PD control law and the classical PID control law. Tracking-Differentiator resolves the contradiction between rapidity and overshoot of system response. The nonlinear PD control law improves system dynamic performance and intensifies the ability of disturbance rejection. The control design achieved in this paper makes the servo system more robust.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"26 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":"122209021","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
Random vibration control based on adaptive filter 基于自适应滤波的随机振动控制
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588736
Guang-feng Guan, W. Xiong, Haitao Wang
{"title":"Random vibration control based on adaptive filter","authors":"Guang-feng Guan, W. Xiong, Haitao Wang","doi":"10.1109/ICMA.2010.5588736","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588736","url":null,"abstract":"The random vibration adaptive control method is presented based on the recursive least-squares (RLS) adaptive filter. The power spectral density (PSD) of drive signal is updated based on the off-line identification of frequency response function (FRF) in conventional random vibration control system. And the pseudo-random drive signal generated by the conventional time-frequency transformation has leakage between frequency resolutions. The control precision is difficult to meet with conventional random vibration control method. The finite impulse response (FIR) filter is designed with the reference PSD in random vibration adaptive control system. And the time domain drive signal is generated by filtering a series of independent white noise. The RLS adaptive filter is designed to obtain the inverse model of the device under test (DUT) based on adaptive inverse control algorithm. The time domain drive signal is filtered by the inverse model so the PSD of the DUT output signal can replicate the reference PSD in high precision. Random vibration test results show the effectiveness of the proposed algorithm.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"174 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":"128403206","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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