2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)最新文献_第2页

A novel capacitive type torque sensor for robotic applications 一种用于机器人的新型电容式扭矩传感器

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-29 DOI: 10.1109/AIM.2016.7576899

Y. Kim, Uikyum Kim, D. Seok, JinHo So, Hyoukryeol Choi

引用次数: 9

Simulation of 3-axis state feedback controller with bang-bang control for positioning mechanism driven by 6 piezoelectric actuators 六压电作动器驱动定位机构的三轴状态反馈控制器的仿真

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-09-26 DOI: 10.1109/AIM.2016.7576988

Fumiya Shono, Noriyuki Mouri, T. Higuchi, O. Fuchiwaki

{"title":"Simulation of 3-axis state feedback controller with bang-bang control for positioning mechanism driven by 6 piezoelectric actuators","authors":"Fumiya Shono, Noriyuki Mouri, T. Higuchi, O. Fuchiwaki","doi":"10.1109/AIM.2016.7576988","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576988","url":null,"abstract":"In this paper, we report the simulation result of a precise 3-axial servo controller for a positioning mechanism in an inchworm mobile mechanism. Also, we describe the design of bang-bang controller for θ-axis that is required for developing 3-axial controller. The inchworm mobile mechanism is composed of 6 piezoelectric actuators (PAs) and a pair of electromagnets (EMs). If one EM is fixed to a ferromagnetic floor, then another EM can position the X, Y, and θ axes by 6 PAs. In a previous study, we have developed 3-axial proportional-integral-derivative (PID) controls with a 50 nm resolution for the mechanism with 4 linear encoders to measure the 3DoF motion of the free magnet precisely However, we concluded that we require over 100 ms of settling time because of mutual coupling effects among the X, Y, and θ axes when using the PID controller. To be robust against the disturbance and also reduce settling time, we developed a new servo controller in this study. To achieve sufficient working efficiency, we aimed at establishing of 3-axial servo control on the nanometer scale that can realize a ±0.5 μm positioning repeatability, and less than 10 ms of settling time over a 50 μm×50 μm positioning range.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121929959","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

Admittance control for an electromechanical rowing machine 机电划船机导纳控制

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576757

Shola Otitoju, H. Richter, A. J. Bogert

{"title":"Admittance control for an electromechanical rowing machine","authors":"Shola Otitoju, H. Richter, A. J. Bogert","doi":"10.1109/AIM.2016.7576757","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576757","url":null,"abstract":"The paper considers a conceptual design for an electromechanical rowing machine and its control system. The concept includes a DC motor, a gear transmission, a drum and a pull cable. The force-velocity characteristic of a commercial rowing machine was modeled by a fourth-order mechanical admittance, and its parameters were identified from actual exercise data by a collocation method. The admittance controller is related to, and an extension of the natural admittance control proposed by Newman. The controller of this paper is able to achieve any desired target admittance for the electromechanical system at its mechanical (user) port, as long as the admittance is strictly proper. A fourth-order mechanical admittance was identified by the collocation method, with very good agreement to the data. The identified admittance was subsequently used as the target admittance of the electromechanical control system. A scale-size prototype was used to test the controller in a realtime experiment. Achievement of the target admittance was verified by simulating its response to the force profile of the experiment. The resulting velocity was in close agreement to that recorded from the experiment.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115750216","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

The development of flying touch hot rolling control method based on SMCSPO 基于SMCSPO的飞触式热轧控制方法的开发

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576789

Hyun-Hee Kim, Sung-Jin Kim, Min-Cheol Lee

引用次数: 2

Learning-based object abstraction method from simple instructions for human support robot HSR 基于简单指令的人类辅助机器人HSR对象抽象方法

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576812

Kotaro Nagahama, Hiroaki Yaguchi, Hirohito Hattori, Kiyohiro Sogen, Takashi Yamamoto, M. Inaba

{"title":"Learning-based object abstraction method from simple instructions for human support robot HSR","authors":"Kotaro Nagahama, Hiroaki Yaguchi, Hirohito Hattori, Kiyohiro Sogen, Takashi Yamamoto, M. Inaba","doi":"10.1109/AIM.2016.7576812","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576812","url":null,"abstract":"This study proposes the development of a simple remote-controlled daily assistive robot to assist physically challenged individuals. Specifically, we present a method for target object selection using a single click on a graphical user interface. Using this information, the robot can automatically estimate the unknown target object region to plan to grasp and fetch the object. The challenging task is to correctly estimate the region of the object of interest. The proposed system is implemented using the following framework for estimating the region of the object. First, the robot automatically estimates the object region based on user input. Second, the user can intervene by interactively drawing and erasing the estimated region while the system sequentially updates the estimation method based only on the user's correction. The advantage of this system is that only limited inputs are required from the user, a feature that is useful for handicapped users. Moreover, we introduce (1) graph cuts, comprising “HyperPixels” and three-dimensional information, to enable the system to recognize the rich features around the user-specified region for robust segmentation, (2) interactive correction of the automatically estimated object region while the system calculates good graph parameters for the correct estimation, and (3) recall and use of the learned parameters for the estimation based on the database of features around the clicked point.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127541262","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

Data-driven human skill evaluation for excavator operation 数据驱动的挖掘机操作人员技能评估

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576814

K. Koiwai, Toru Yamamoto, Takao Nanjo, Yoichiro Yamazaki, Yoshiaki Fujimoto

引用次数: 7

Design and shape control of a three-section continuum robot 三段式连续体机器人的设计与形状控制

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576925

Bo Ouyang, Yunhui Liu, Dong Sun

引用次数: 11

Fast object approximation for real-time 3D obstacle avoidance with biped robots 双足机器人实时三维避障的快速目标逼近

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576740

Daniel Wahrmann, Arne-Christoph Hildebrandt, Robert Wittmann, Felix Sygulla, D. Rixen, T. Buschmann

引用次数: 28

Optimization-based constrained iterative learning control with application to building temperature control systems 基于优化的约束迭代学习控制及其在建筑温控系统中的应用

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576851

C-T.John Peng, Liting Sun, Wenlong Zhang, M. Tomizuka

引用次数: 19

Approaching humans in crowded and dynamic environments 在拥挤和动态的环境中接近人类

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576813

Xuan-Tung Truong, V. N. Yoong, T. Ngo

引用次数: 2