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A self-powered, self-sensing magnetorheological damper 一种自供电、自传感磁流变阻尼器
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589157
Chao Chen, W. Liao
{"title":"A self-powered, self-sensing magnetorheological damper","authors":"Chao Chen, W. Liao","doi":"10.1109/ICMA.2010.5589157","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589157","url":null,"abstract":"Magnetorheological (MR) dampers are promising for semi-active vibration control of various dynamic systems. In the current MR damper system, separate power supply and dynamic sensor are required. This paper is aimed to propose and investigate a self-powered, self-sensing MR damper, which integrates energy harvesting, sensing and MR damping technologies into one device. This multifunctional integration will bring great benefits such as size and weight reduction, energy saving, lower cost, higher reliability, and less maintenance for the use of MR damper systems. It will advance the technology of various dynamic systems such as machine tools, robots, prosthetics, and suspension systems. In this paper, a prototype of self-powered, self-sensing MR damper was designed, fabricated, and tested. Theoretical analysis and experimental study on power generation were conducted. The velocity-sensing method was investigated. The MR damping forces were also studied experimentally. Finally, the interactions among three functions were discussed.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"6 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":"126595855","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: 32
A high-precision linear method for camera pose determination 一种高精度的相机姿态线性确定方法
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588392
Sen Yang
{"title":"A high-precision linear method for camera pose determination","authors":"Sen Yang","doi":"10.1109/ICMA.2010.5588392","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588392","url":null,"abstract":"This paper concerns a high-precision linear method for camera pose determination. The key idea is to replace the algebraic error in the classical linear method with the weighted algebraic error as an approximation of the geometric error. The proposed method provides a linear solution with accuracy closed to that of maximum likelihood (ML) estimation, but more efficient than ML estimation. Based on the EPnP algorithm [15], we obtain the weighted EPnP (WEPnP) algorithm by using the weighted linear technique. Experiments on simulative data and real images show that the WEPnP algorithm significantly outperforms the EPnP algorithm, what's more, it even outperforms the Lu's nonlinear algorithm [13] in the case of small depth ratio.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"13 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":"131181461","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
Study on numerical solution of the contact mechanics in gas foil bearings 气体箔轴承接触力学数值解的研究
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589097
Haipeng Geng, Shemiao Qi, Lie Yu, M. He, Shuhai Yu, P. Yuan
{"title":"Study on numerical solution of the contact mechanics in gas foil bearings","authors":"Haipeng Geng, Shemiao Qi, Lie Yu, M. He, Shuhai Yu, P. Yuan","doi":"10.1109/ICMA.2010.5589097","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589097","url":null,"abstract":"In spite of the successful application of this oil-free supporting technology in engineering, theoretical researches on static, especially dynamic performances of compliant foil bearing seem rather difficult and far behind experimental investigations because of complexity. One of the most difficult problems to deal with is, odelling of contact mechanics problem between bump foil and top foil. The goal of this study is to find the most suitable numerical solution method for the contact mechanics problems between the bump foil and top foil in gas foil bearing. By comparing the characteristics, Lagrange Multiplier Method, Multi-Point Constraint Method and Direct Constraint Method, Direct Constraint Method is considered the most appropriate numerical algorithm for the contact mechanics in gas foil bearings. In solving the contact problem, this algorithm has a good accuracy, and micro-contact status between the bump foil and top foil in gas foil bearing, it has the important significance Of the elastic for the design of the foil bearing.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"108 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":"133559681","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
Computer vision based wheel sinkage detection for robotic lunar exploration tasks 基于计算机视觉的机器人月球探测任务车轮下沉检测
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5588685
Guruprasad M. Hegde, Chris Robinson, C. Ye, A. Stroupe, E. Tunstel
{"title":"Computer vision based wheel sinkage detection for robotic lunar exploration tasks","authors":"Guruprasad M. Hegde, Chris Robinson, C. Ye, A. Stroupe, E. Tunstel","doi":"10.1109/ICMA.2010.5588685","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5588685","url":null,"abstract":"This paper presents a wheel sinkage detection method that may be used in robotic lunar exploration tasks. The method extracts the boundary line between a robot wheel and lunar soil by segmenting the wheel-soil images captured from a video camera that monitors wheel-soil interaction. The detected boundary is projected onto the soil-free image of the robot wheel to determine the depth of wheel sinkage. The segmentation method is based on graph theory. It first clusters a wheel-soil image into homogeneous regions called superpixels and constructs a graph on the superpixels. It then partitions the graph into segments by using normalized cuts. Compared with the existing methods, the proposed algorithm is more robust to illumination condition, shadows and dust (covering the wheel). The method's efficacy has been validated by experiments under various conditions.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"35 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":"133452320","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
FPGA-based velocity estimation for control of harmonic drives 基于fpga的谐波传动控制速度估计
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589767
Wen-Hong Zhu
{"title":"FPGA-based velocity estimation for control of harmonic drives","authors":"Wen-Hong Zhu","doi":"10.1109/ICMA.2010.5589767","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589767","url":null,"abstract":"FPGA (Field Programmable Gate Array) devices have emerged as a new type of reconfigurable high-performance computing hardware. Despite their successful applications in a variety of areas, FPGA devices are just about to find their way into the control systems. In this paper, a general velocity estimation solution for on-chip FPGA implementation is presented. Possessing the advantages of both frequency count and period count methods, the proposed solution automatically covers a wide range of velocities. It behaves as a period counter at low velocities and also behaves as a frequency counter at high velocities. Remarkably, the division operation required by most period count methods is averted by using an accumulator to ease the FPGA-based implementation. The developed velocity estimation solution is experimentally compared to a classic frequency count method in terms of both velocity signal smoothness and position tracking control accuracy. Experimental results also reveal that the position control accuracy of harmonic drives is more sensitive to the velocity phase-lag than to the velocity smoothness.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"34 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":"132261511","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
Cooperative localization of UAV based on information synchronization 基于信息同步的无人机协同定位
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589081
Y. Qu, Youmin Zhang, Qing-Li Zhou
{"title":"Cooperative localization of UAV based on information synchronization","authors":"Y. Qu, Youmin Zhang, Qing-Li Zhou","doi":"10.1109/ICMA.2010.5589081","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589081","url":null,"abstract":"Information synchronization is the key technology of multi-UAV in formation flight. Based on the linear update law, this paper develops a general analytical solution of synchronization for a ring communication topological structure. Considering the fact that GPS is vulnerable to fail in some circumstances which may lead to that the localization of the UAV cannot continue, we propose a localization method by other members' measurements in the UAV team. First, we assume that these UAVs construct a ring communication topological structure and all the units in the network can respectively obtain the position information of the UAV by measuring the relative range and the azimuth from the UAV. Next, the information is synchronized in the ring communication network and it converges to a same value. Finally, the data is communicated to the UAV whose GPS receiver works improperly so that the UAV is capable of continuing the navigation task. Simulation results in Matlab/Simulink show the effectiveness of the proposed approach.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"72 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":"133124383","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: 15
GRNN-based error-compensating algorithms in feeding beam of tunnel Rock-drilling robot 基于grnn的隧道凿岩机器人进给梁误差补偿算法
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589067
Xihua Xie, Liang Zhou, Qinghua He
{"title":"GRNN-based error-compensating algorithms in feeding beam of tunnel Rock-drilling robot","authors":"Xihua Xie, Liang Zhou, Qinghua He","doi":"10.1109/ICMA.2010.5589067","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589067","url":null,"abstract":"Tests showed that, at the feeding beam's end, there are large position and pose error during the boring orientation of Rock-drilling robot. And the error are relate to both the roll angle and the extended length of the feeding beam. With analyzing the flexible deformation about different fed length, it is showed that flexible deformation is not the main reason of the error. The error is also caused by many reasons which are difficult to establish the mathematical model. In this paper, a GRNN (General Regression Neural Network) method is introduced into predicting and compensating orientation error, and satisfactory results have been obtained.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"48 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":"127052136","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
Non-blocking supervisors synthesis for a class of discrete event systems based on two-stage deadlock control 一类基于两阶段死锁控制的离散事件系统的无阻塞监督综合
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589772
Mi Zhao, Ding Liu, Yifan Hou
{"title":"Non-blocking supervisors synthesis for a class of discrete event systems based on two-stage deadlock control","authors":"Mi Zhao, Ding Liu, Yifan Hou","doi":"10.1109/ICMA.2010.5589772","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589772","url":null,"abstract":"In this paper we deal with deadlock problems for a class of resource allocation systems, namely G-system, which allows multiple resource acquisitions and flexible routings with machining, assembly, and disassembly operations. A deadlock prevention methodology that is an iterative approach consisting of two stages is proposed. The first one is called siphons control, which is to add a control place to the original net for each insufficiently marked minimal siphon. The objective is to prevent a minimal siphon from being insufficiently marked. The second one, called control-induced siphons control, is to add a control place to the augmented net with its output arcs connecting to source transitions, which assures that there is no new insufficiently marked siphon generated. A mixed integer programming approach is adopted for generalized Petri nets to obtain an insufficiently marked minimal siphon from the maximal deadly marked siphon. This way avoids complete siphon enumeration that is much more time-consuming for a sizeable plant model than the existing method. This paper makes the application of presented deadlock control methods to G-systems.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"5 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":"127393143","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
A robot ultrasonic mapping method based on the gray system theory 基于灰色系统理论的机器人超声成像方法
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589942
Xuming Pei, Jie Liu, Duanqin Zhang, Liangwen Wang, Xinjie Wang
{"title":"A robot ultrasonic mapping method based on the gray system theory","authors":"Xuming Pei, Jie Liu, Duanqin Zhang, Liangwen Wang, Xinjie Wang","doi":"10.1109/ICMA.2010.5589942","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589942","url":null,"abstract":"A robot mapping algorithm based on the gray system theory is described in this paper. The ultrasonic error model is established according to the sound wave transmission character and a gray value is defined to express the sensor data uncertainty. In this algorithm, several continuous sonar data are fused based on the gray system fusion theory in order to update the gray value of the map grid. A grid neighborhood searching method is proposed to judge the robot accessible position, plan the feasible path for the complete map of the whole environment. The validity and accuracy are proved in the real office environment.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"14 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":"114790223","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
Emulating the full-bridge circuit in the multisim 在multisim卡中仿真全桥电路
2010 IEEE International Conference on Mechatronics and Automation Pub Date : 2010-10-07 DOI: 10.1109/ICMA.2010.5589021
Jianwen You, Dagui Huang
{"title":"Emulating the full-bridge circuit in the multisim","authors":"Jianwen You, Dagui Huang","doi":"10.1109/ICMA.2010.5589021","DOIUrl":"https://doi.org/10.1109/ICMA.2010.5589021","url":null,"abstract":"The main contain of this article specifically for audio directional system is hit by digital power amplifier, and to the rear for digital power amplifier stage full-bridge circuit simulation test. It proposes the question of the full-bridge circuit which you must pay attention to in the design process, and the article brings forward the method that improves specifically for these problems. The audio directional system works in the high frequency state, this audio directional system's operating frequency is 30khz, if you choose the transistor's switching speed is lower than the targeted audio system's operating frequency, then would it have the serious distortion. Therefore, the process of the selection of transistors must consider all aspects of the requirements. The switching valves according to pre-control strategy manages the opening sequence and turn-off, ultimately the AC power supply voltage transforms into DC power supply voltage. the multisim has the direct-viewing capture and the function of formidable simulation, it can easily change the simulation's parameters and access to a variety of visual simulation results. carrying on the comparison to the result of the simulation test, which has the nimble feasibility. It is the flexibility of using multisim, You can design a good circuit after carrying on pre-test in transformation effect and the higher harmonic to filter out aspects and so on.","PeriodicalId":145608,"journal":{"name":"2010 IEEE International Conference on Mechatronics and Automation","volume":"672 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":"115122118","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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