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2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)最新文献

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Teach industrial robots peg-hole-insertion by human demonstration 通过人工示范，教工业机器人插入钉孔
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576815
Te Tang, Hsien-Chung Lin, Yu Zhao, Yongxiang Fan, Wenjie Chen, M. Tomizuka
{"title":"Teach industrial robots peg-hole-insertion by human demonstration","authors":"Te Tang, Hsien-Chung Lin, Yu Zhao, Yongxiang Fan, Wenjie Chen, M. Tomizuka","doi":"10.1109/AIM.2016.7576815","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576815","url":null,"abstract":"Programming robotic assembly tasks usually requires delicate force tuning. In contrast, human may accomplish assembly tasks with much less time and fewer trials. It will be a great benefit if robots can learn the human inherent skill of force control and apply it autonomously. Recent works on Learning from Demonstration (LfD) have shown the possibility to teach robots by human demonstration. The basic idea is to collect the force and corrective velocity that human applies during assembly, and then use them to regress a proper gain for the robot admittance controller. However, many of the LfD methods are tested on collaborative robots with compliant joints and relatively large assembly clearance. For industrial robots, the non-backdrivable mechanism and strict tolerance requirement make the assembly tasks more challenging. This paper modifies the original LfD to be suitable for industrial robots. A new demonstration tool is designed to acquire the human demonstration data. The force control gains are learned by Gaussian Mixture Regression (GMR) and the closed-loop stability is analysed. A series of peg-hole-insertion experiments with H7h7 tolerance on a FANUC manipulator validate the performance of the proposed learning method.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131669746","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
Potential benefit of regenerative braking on electric bicycles 再生制动对电动自行车的潜在好处
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576969
O. Maier, M. Krause, Sebastian Krauth, Nico Langer, P. Pascher, J. Wrede
{"title":"Potential benefit of regenerative braking on electric bicycles","authors":"O. Maier, M. Krause, Sebastian Krauth, Nico Langer, P. Pascher, J. Wrede","doi":"10.1109/AIM.2016.7576969","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576969","url":null,"abstract":"Electric Bicycles (EBs) provide a promising sustainable mobility solution. Despite the huge number of research and development activities, the battery pack is still the Achilles' heel of electric vehicles. The dilemma arises between energy content, weight and cost of the batteries. A potential remedy is Regenerative Braking (RB). The main idea of RB is to recover the highest possible amount of kinetic and potential energy during braking and convert this energy into a storable form. This paper presents a study on the potential benefit of RB on EBs. The study is based on two redundant calculation methods for determining recoverable energy. Input data is measured with an experimental test bike during a typical EB trip. Results show a potential RB rate of 35% without taking efficiency losses of energy conversion into account. The subsequent discussion of the results points out possible weaknesses of the study and defines future work.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114970638","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 of an ultra thin strain sensor using superelastic nitinol for applications in minimally invasive surgery 超弹性镍钛诺超薄应变传感器在微创手术中的应用
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576865
Amit Srivastava, Ran Xu, A. Escoto, Christopher Ward, Rajnikant V. Patel
{"title":"Design of an ultra thin strain sensor using superelastic nitinol for applications in minimally invasive surgery","authors":"Amit Srivastava, Ran Xu, A. Escoto, Christopher Ward, Rajnikant V. Patel","doi":"10.1109/AIM.2016.7576865","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576865","url":null,"abstract":"This paper introduces a novel ultra thin strain sensor made of superelastic nitinol wire that is well suited for force sensing applications of surgical instruments. The sensing principle used for the described sensor is the same as that for conventional strain gauges; however, the proposed sensor has significant advantages of thinner size (15 μm diameter), higher gauge factor (3.5), large strain measurement range (up to 4.25%), lower cost and easier installation process. To validate its force sensing capability for minimally invasive surgical instruments, the sensor was mounted on a da Vinci surgical tool to measure the lateral forces acting at the distal end. Experimental results showed that the sensor can accurately measure forces with an RMS error of 32 mN and with a resolution of 55 mN.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114381344","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: 11
Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator 使用基于力传感器的偏转估计器在软组织插入期间的针径控制
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576929
T. Lehmann, C. Rossa, R. Sloboda, N. Usmani, M. Tavakoli
{"title":"Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator","authors":"T. Lehmann, C. Rossa, R. Sloboda, N. Usmani, M. Tavakoli","doi":"10.1109/AIM.2016.7576929","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576929","url":null,"abstract":"Needle insertion is commonly used in procedures such as prostate brachytherapy or biopsy. In prostate brachytherapy, the success of the procedure depends on the accurate placement of needles in their pre-planned target location. In order to steer the needle towards a defined target, past research has used ultrasound-image-based needle localization for needle tip position feedback. Acquiring and processing of ultrasound images, however, significantly limits the control sampling rate. This work proposes a method for needle path prediction and control without the need for image feedback. The needle tip path obtained during insertion from a force-sensor-based deflection estimator is used to parameterize a kinematic bicycle model. The bicycle model is then used to predict the needle tip path and the ideal rotation depth for reaching a desired target. Experimental results show that the introduced method accurately predicts the needle tip path and the ideal rotation depth to guide the needle to a pre-defined target.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129523092","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
Adaptive PD plus sliding mode control for robotic manipulator 机械臂自适应PD加滑模控制
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576888
P. Ouyang, J. Tang, W. Yue, S. Jayasinghe
{"title":"Adaptive PD plus sliding mode control for robotic manipulator","authors":"P. Ouyang, J. Tang, W. Yue, S. Jayasinghe","doi":"10.1109/AIM.2016.7576888","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576888","url":null,"abstract":"In this paper, an adaptive proportional-derivative (PD) plus sliding mode control (SMC) algorithm, APD-SMC in short, is proposed for tracking control of robotic manipulators. The PD control part is used to bring the trajectory to the normalized tracking, the SMC part forces the trajectory close to the sliding surface, and the adaptive control part is used to estimate the dynamics of the system. The proposed control system has the features of PD control and SMC with the adaptation for the unknown dynamics of the robotic manipulators. The stability analysis is conducted based on the Lyapunov theory, and simulation study is fulfilled and comparisons are performed in order to prove the effectiveness of the APD-SMC law.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116930931","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: 14
Kinematics and dynamics identification of a hyper-redundant, electromagnetically actuated manipulator 超冗余电磁驱动机械臂的运动学与动力学辨识
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576834
S. Tappe, Michael Dorbaum, J. Kotlarski, B. Ponick, T. Ortmaier
{"title":"Kinematics and dynamics identification of a hyper-redundant, electromagnetically actuated manipulator","authors":"S. Tappe, Michael Dorbaum, J. Kotlarski, B. Ponick, T. Ortmaier","doi":"10.1109/AIM.2016.7576834","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576834","url":null,"abstract":"To overcome restrictions of passive, flexible endoscopes in technical tasks (e. g. inspection jobs) as well as in medical interventions, such as minimally invasive surgery, a hyper-redundant active shaft concept is proposed. Due to its unique binary, electromagnetic actuation concept it features good resistance with respect to manipulation forces. Thanks to an active control of each element of the hyper-redundant shaft, different shapes (configurations) can be commanded easily. As a matter of fact, the resulting shape and end effector errors highly depend on the accuracy of the kinematic model. Furthermore, a dynamic model - including a description of the electromagnetic behavior - is required to determine necessary individual poweron durations for the capacity discharge in the tilting circuit of the electromagnetic actuators. In this paper, the dynamics and kinematics for the hyperredundant manipulator are determined. A simplified model for the tilting actuator torque is deduced from the electromagnetic behavior. Subsequently, model parameters are identified and evaluated for a prototypical manipulator based on measurements of the end effector movements.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129152045","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
A reduced actuation mecanum wheel platform for pipe inspection 一种用于管道检测的减缩驱动机构轮式平台
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576803
William A. Blyth, D. Barr, F. Baena
{"title":"A reduced actuation mecanum wheel platform for pipe inspection","authors":"William A. Blyth, D. Barr, F. Baena","doi":"10.1109/AIM.2016.7576803","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576803","url":null,"abstract":"This paper focuses on the design, development and assessment of a novel, 2 degrees-of-freedom magnetic pipe inspection robot. It consists of 4 mecanum wheels, with the diagonals functionally coupled and the system rotation constrained by the surface geometry, maintaining full translational mobility with reduced control and actuation requirements. The system uses positional encoding that is decoupled from the transmission system to overcome the main sources of positional/positioning errors when using mecanum wheels. The kinematic and dynamic models of the system are derived and integrated within the controller. The prototype robot is then tested and shown to follow a scan path at 20mm/s within ±1.5mm whilst correcting for gravitational drift and slip events.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"147 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128182666","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
Bilateral shared autonomous system for MUMAV with nonpassive human and environment input interaction forces 具有非被动人与环境输入相互作用力的腮腺炎病毒双边共享自主系统
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576820
S. Islam, J. Dias, L. Seneviratne
{"title":"Bilateral shared autonomous system for MUMAV with nonpassive human and environment input interaction forces","authors":"S. Islam, J. Dias, L. Seneviratne","doi":"10.1109/AIM.2016.7576820","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576820","url":null,"abstract":"In this paper, the stability and synchronization control problem of bilateral shared autonomous system for miniature unmanned multirotor aerial vehicle (MUMAV) is addressed with nonpassive human and environment input forces. The master input interface design combines scaled position of the master manipulator with velocity signals of the MUMAV and reflected remote interaction forces. The slave input interaction interface is designed by combining scaled position and velocity of the master manipulator with the velocity of the remote slave MUMAV system. The data transmission between local master and remote MUMAV is assumed to be carried out by using dedicated internet communication network with negligible time delay. The convergence analysis is shown by using Lyapunov method. The analysis shows that the closed loop bilateral shared autonomous system is input-to-state stable and ultimately bounded with nonpassive human and environment input interaction force.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122654281","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
Multirate feedforward control with state trajectory generation based on time axis reversal for plant with continuous time unstable zeros 具有连续时间不稳定零的对象的基于时间轴反转的状态轨迹生成多速率前馈控制
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576848
W. Ohnishi, H. Fujimoto
{"title":"Multirate feedforward control with state trajectory generation based on time axis reversal for plant with continuous time unstable zeros","authors":"W. Ohnishi, H. Fujimoto","doi":"10.1109/AIM.2016.7576848","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576848","url":null,"abstract":"Plant with unstable zeros is known as difficult to be controlled because of initial undershoot of step response and unstable poles of its inversion system. There are two reasons why plant has unstable zeros in discrete time domain: 1) non-collocation of actuators and sensors, 2) discretization by zero-order-hold. Problem 2) has been solved by multirate feedforward control proposed by our research group. This paper extends this method to solve problem 1) by the state trajectory generation based on time axis reversal. The validity of the proposed methods is demonstrated by simulations.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134423965","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: 8
Development of a front and rear aligning control winding system 前后调直控制卷绕系统的研制
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576766
Chen-Jung Li, W.-J. Chen, Y.-C. Yu, C.-Y. Wu, C. Huang
{"title":"Development of a front and rear aligning control winding system","authors":"Chen-Jung Li, W.-J. Chen, Y.-C. Yu, C.-Y. Wu, C. Huang","doi":"10.1109/AIM.2016.7576766","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576766","url":null,"abstract":"For winding systems, aligning control is important to assure good winding quality. This research proposes a winding control system with a front aligning mechanism and a rear aligning roller to achieve good front and rear lateral alignment of winding strips. The front aligning mechanism uses one set of a servo motor and a ball screw to tilt a front aligning roller about the hinge located at the midpoint of the roller. The rear aligning roller is actuated by two sets of servo motors and ball screws at its both ends to tilt for rear aligning control. The mathematical models for the front and rear aligning control winding systems are derived and the corresponding controllers are then designed. Both of simulation and experimental results demonstrate that the proposed aligning control winding system could achieve good front and rear aligning control.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132607873","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
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