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

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Control of temperature conditioning systems with distributed actuator dynamics 基于分布式执行器动力学的温度调节系统控制
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7577015
Stefan Schaut, S. Alt, O. Sawodny
{"title":"Control of temperature conditioning systems with distributed actuator dynamics","authors":"Stefan Schaut, S. Alt, O. Sawodny","doi":"10.1109/AIM.2016.7577015","DOIUrl":"https://doi.org/10.1109/AIM.2016.7577015","url":null,"abstract":"Temperature conditioning systems are heat exchangers or heat spreaders, which are used for specific heating of flowing media. In practical applications heat from the actuator is often passed to the fluid with a spatial distribution. If the actuator dynamics are also considered in the model, the resulting model is a coupled Partial Differential Equation (PDE) system. The model includes transport of the fluid as well as heat conduction in the actuator. In this work modeling and controller design for such systems based on an exemplary benchmark system are discussed. Therefore, a low order model for the design of a temperature controller is derived. Based on this model a systematic design of feedforward and feedback controller is presented and validated in simulation.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"1 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":"129775281","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
Model of traction system and speed control for single train of Taipei mass rapid transit system 台北市轨道交通单列牵引系统及速度控制模型
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576863
B. Ke, H. Maghfiroh, K. Lian, Nan Chen, D. Teshome
{"title":"Model of traction system and speed control for single train of Taipei mass rapid transit system","authors":"B. Ke, H. Maghfiroh, K. Lian, Nan Chen, D. Teshome","doi":"10.1109/AIM.2016.7576863","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576863","url":null,"abstract":"A detailed traction model for the Taipei Mass Rapid Traction system is developed, and a new speed controller based on Neural Network and PID (NN-based PID) is proposed. The model, which is developed in MATLAB/ Simulink, has three main parts: traction system, third rail voltage system, and load. The train model characterizes the traction motor and the coupling effect of mechanical and electrical parts of the train system. Moreover, the efficiency changes and switching transitions can be observed. An NN-based PID controller is used because of its self-adaptive capability. A case study of an actual track is presented to demonstrate the robustness of the proposed controller.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"1 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":"128670529","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
Development of the compliance control for hexapod walking robot LCR200 LCR200六足步行机器人柔度控制的研制
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576898
Won-suk Ji, B. Jun, Baek-Kyu Cho
{"title":"Development of the compliance control for hexapod walking robot LCR200","authors":"Won-suk Ji, B. Jun, Baek-Kyu Cho","doi":"10.1109/AIM.2016.7576898","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576898","url":null,"abstract":"This paper presents a development of the compliance control to LCR200 by using computed torque method. Hexapod robot LCR200, a prototype of ocean exploration robot CR200, is actuated by electric motors and Harmonic drives. Our goal of this study is applying compliant effects on joints to prevent damage on LCR200. To add compliant effect on the joints, the compliance control is developed with the computed torque method. To using computed torque method, estimating the friction term was a key point. To estimate a friction term, we modeled friction with 3rd fitting from experimental results. Additionally, we multiplied exponential function on the friction model to remove discontinuous of friction modeling. The experimental results showed tracking performance and compliant effect of developed control method with the obstacle.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"70 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":"129268468","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
Classical Preisach model of hysteretic behavior in a da Vinci instrument 达芬奇仪器的经典Preisach滞回模型
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576965
Farshad Anooshahpour, I. Polushin, Rajnikant V. Patel
{"title":"Classical Preisach model of hysteretic behavior in a da Vinci instrument","authors":"Farshad Anooshahpour, I. Polushin, Rajnikant V. Patel","doi":"10.1109/AIM.2016.7576965","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576965","url":null,"abstract":"Tendon-based instruments are widely used in both robotic and manual minimally invasive surgical procedures. Direct measurement of the interaction forces at the tip of such instruments is difficult. As a result, methods for estimation of these forces are of substantial interest. In this paper, modeling of the input-output hysteretic behavior in a da Vinci instrument is addressed using the classical Preisach approach. The performance of the developed model is experimentally evaluated. The results obtained demonstrate that the classical Preisach model allows for sufficiently precise estimation of the forces at the tip of the da Vinci instrument.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"3 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":"130407289","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
Modeling induction motor imbalances: A non-DQ approach 异步电机不平衡建模:一种非dq方法
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576861
Kabenla E. E. E. Armah, J. Jouffroy, L. Duggen
{"title":"Modeling induction motor imbalances: A non-DQ approach","authors":"Kabenla E. E. E. Armah, J. Jouffroy, L. Duggen","doi":"10.1109/AIM.2016.7576861","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576861","url":null,"abstract":"This paper gives a study into the development of a generalized model for a three-phase induction motor that offers flexibility of simulating balanced and unbalanced parameters scenarios. By analyzing the interaction of forces within the motor, we achieve our main objective of deriving the system dynamic equations for our model. The performance of the model is characterized via simulation.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"1 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":"129211083","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
Practical applications of simulation-based control 基于仿真控制的实际应用
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576962
J. Roßmann, Magdalena Dimartino, Marc Priggemeyer, R. Waspe
{"title":"Practical applications of simulation-based control","authors":"J. Roßmann, Magdalena Dimartino, Marc Priggemeyer, R. Waspe","doi":"10.1109/AIM.2016.7576962","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576962","url":null,"abstract":"This paper presents an approach to Simulation-Based Control of industrial robots. Data structures and algorithms are presented that adapt a simulation system, in order to meet the real-time constraints imposed by a real-time operating system and the actual robot hardware. It is exemplary shown that our approach is applicable even in challenging settings, while maintaining remarkable accuracy.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"22 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":"123502486","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
Dynamics and characteristics of thin film batteries cycled over capacitive load 薄膜电池在容性负载下循环的动力学和特性
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7577000
K. Teichert, K. Oldham
{"title":"Dynamics and characteristics of thin film batteries cycled over capacitive load","authors":"K. Teichert, K. Oldham","doi":"10.1109/AIM.2016.7577000","DOIUrl":"https://doi.org/10.1109/AIM.2016.7577000","url":null,"abstract":"Piezoelectric actuation has potential advantages in autonomous microsystems due to relatively high efficiency and low voltage requirements when deposited as a thin-film. However, the power available to autonomous microsystems may have many restrictions due to electrical loading, weight, and size requirements. Modeling of the power sources and loads can be beneficial for design and implementation; however, understanding the various associated phenomena is important for a valid model. This work examines mid-frequency cycled capacitive loading of thin film batteries to simulate application to autonomous micro-robots. Commercial 50μAh LiCoO2/Lipon thin film batteries were cycled over a frequency range between 100Hz-10kHz and at two levels of capacitance (1, 10nF). Detailed data was acquired of the dynamics of the battery and capacitor voltages during switching. The significance of understanding losses from switching and leakage at the micro scale is clearly shown. The impact of similarity in timescales for various dynamics is discussed. Additionally, indications of parasitic capacitance in the battery system are seen and discussed. An example implementation of the findings in a switching model is presented as well as a simple design application example.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"43 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":"121194073","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
Optimal redundancy resolution for robotic arc welding using modified particle swarm optimization 基于改进粒子群算法的机器人弧焊冗余度最优解
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576826
N. Doan, P. Y. Tao, Wei Lin
{"title":"Optimal redundancy resolution for robotic arc welding using modified particle swarm optimization","authors":"N. Doan, P. Y. Tao, Wei Lin","doi":"10.1109/AIM.2016.7576826","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576826","url":null,"abstract":"This paper presents an optimal redundancy resolution approach for a 6 degree-of-freedom (DOF) articulated welding robot for the objective of minimizing energy consumption while meeting the process requirements and satisfying all the kinematic constraints. By combining parameterized inverse kinematics in position domain and a modified particle swarm optimization (MPSO) with proposed searching constraints, an efficient redundancy resolution is realized for the required welding torch trajectories. The formulation begins with the parameterized inverse kinematics for the given robot. Then the welding torch angle is optimized for the entire welding range by the MPSO with the objective function that deals with the conditions of joint limits, collision avoidance, and energy saving problems. Finally, the effectiveness of the approach is demonstrated with cases of robotic welding for a complex joint structure.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"25 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":"121382220","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
Event-triggered control for bilateral teleoperation with time delays 具有时间延迟的双侧遥操作的事件触发控制
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7577004
Shin-Chen Hu, Chen-Yu Chan, Yen‐Chen Liu
{"title":"Event-triggered control for bilateral teleoperation with time delays","authors":"Shin-Chen Hu, Chen-Yu Chan, Yen‐Chen Liu","doi":"10.1109/AIM.2016.7577004","DOIUrl":"https://doi.org/10.1109/AIM.2016.7577004","url":null,"abstract":"This paper proposes an event-triggered control framework for bilateral teleoperation systems to achieve position tracking under unreliable communication network. With the use of adaptive control and scattering transformation, the passive framework for the master and slave robot are extended to system under non-periodic triggering. By using event-triggered strategy, robotic information is updated and transmitted to another robot only when the triggering conditions are satisfied. Stability and tracking performance are addressed in this paper with the proof of inter-event time. Subsequently, numerical simulations are presented to demonstrate the performance of the presented event-triggered control framework for bilateral teleoperation.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"55 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":"116286724","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 novel elastic load-carrying device: Design, modeling and analysis 一种新型弹性承载装置的研制:设计、建模与分析
2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2016-07-12 DOI: 10.1109/AIM.2016.7576975
Tong Li, Qingguo Li, Tao Liu, J. Yi, Guofang Gong
{"title":"Development of a novel elastic load-carrying device: Design, modeling and analysis","authors":"Tong Li, Qingguo Li, Tao Liu, J. Yi, Guofang Gong","doi":"10.1109/AIM.2016.7576975","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576975","url":null,"abstract":"Carrying load manually is a highly strenuous task and costs additional energy during walking. The forward velocity and vertical displacement of the body center of mass (COM) changes along with the inverted pendulum-like motion. Thus the interaction between the load and carrier varies as well. The interaction between load and carrier has a big influence on the comfort and energetics of the carrier. In this paper, we present the design of a novel carrying device where the load is connected to the frame with springs arranged in the fore-aft direction. This design is capable of changing the interaction pattern of load-carrier system. A simple mass-spring-damper model is proposed to characterize the motion of load and carrier in the forward direction. The motion pattern of the load can be predicted with the model, and it differs according to the selection of the stiffness of spring and load weight. Experimental method is presented to determine damping coefficient in the interaction model. The effect of stiffness of springs on gait kinetics is also analyzed with the model and examined with experiments. The stiffness selection is suggested to be able to make the natural frequency of the mass-spring-damper model lower than the walking frequency. In this case the interaction force can be reduced. The result also reveals that the “touchdown” impact during walking can be weakened significantly with proper stiffness selection.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"17 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":"121499158","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
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