{"title":"Modeling and performance analysis of a magnetorheological fluid actuation system","authors":"Chen Si, Xiaocong Zhu, B. Yao, Jian Cao","doi":"10.1109/AIM.2016.7576978","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576978","url":null,"abstract":"Magnetorheological (MR) fluid systems have been widely utilized in various industrial applications due to its advantages of fast response, simple mechanic-electric-transform circuit, less motion friction with no-moving part and less energy consumption compared to active force control devices. In this paper, a MR actuation system which uses MR fluids as the transmission medium is introduced. The network of MR valves which forms a Wheatstone bridge in the system is connected to a single rod hydraulic cylinder. The motion of the cylinder shaft can be conveniently controlled through adjusting the damping characteristic of MR control valves. A new working mode is put forward to implement more effective velocity adjustment. The theoretical model of the magnetorheological actuation system is presented, which considers the quasi-static characteristics of MR control valve, motion dynamics of hydraulic cylinder and working flow rate and pressures from pump components. Consequently, the uni-directional motion, bi-directional motion and velocity regulation of the MR actuation system under controllable excitation currents is analyzed along with simulation results. It is shown that the transient performance of the motion of the cylinder shaft can be significantly affected by the excitation current. The modeling and simulations can provide useful evaluation for optimal design and control synthesis of the MR valve actuation system.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"4 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":"129632304","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}
{"title":"Geometric adaptive dynamic visual servoing of a quadrotor UAV","authors":"Xuetao Zhang, Yongchun Fang, Xiao Liang, Xuebo Zhang","doi":"10.1109/AIM.2016.7576785","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576785","url":null,"abstract":"A geometric adaptive dynamic visual servoing controller is proposed to control a quadrotor UAV to the desired pose defined by a visual image of a planar target. Different from other existing works on visual servoing, this paper introduces the idea of geometric control into the adaptive dynamic visual servoing controller design for UAVs. Partial pose information is recovered as the feedback signal by using the homography between the current image and desired image. Geometric control, together with adaptive backstepping techniques, is employed to design the visual servoing controller with an online adaptation law for the unknown depth. Based on Lyapunov techniques, it is shown that the proposed adaptive controller guarantees asymptotic stability. Simulation results are provided to illustrate the performance of the proposed control scheme.","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":"130913119","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}
Y. Maddahi, Jordan Huang, Jade Huang, L. S. Gan, H. Hoshyarmanesh, Kourosh Zareinia, G. Sutherland
{"title":"Real-time measurement of tool-tissue interaction forces in neurosurgery: Quantification and analysis","authors":"Y. Maddahi, Jordan Huang, Jade Huang, L. S. Gan, H. Hoshyarmanesh, Kourosh Zareinia, G. Sutherland","doi":"10.1109/AIM.2016.7576967","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576967","url":null,"abstract":"Understanding the amount of forces exerted to the brain tissue during the performance of surgical tasks in neurosurgery is critical for educating trainees. Quantifying such forces can help trainees gain important information about the appropriate amount of force required to safely, yet effectively, complete microsurgical tasks. This paper reports the amount of forces exerted during the performance of neurosurgical tasks by means of a force-sensing bipolar forceps, retrofitted by a set of force sensing components. An experienced surgeon and a surgical team conducted a variety of microsurgical tasks on a cadaver brain using the developed instrumented bipolar forceps, while the forces of dissections were measured real-time. Results showed that depending on the surgical task, the peak (effective) value of dissection forces varied between 0.50 N and 1.84 N. Correlation between calculated force signals, during performance of different trials for the same task was investigated using cross correlation test. Results indicated a strong link between the forces measured in different trials.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"693 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":"121991977","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}
{"title":"Reproducing a laser pointer dot on a secondary projected screen","authors":"Siyao Hu, K. J. Kuchenbecker","doi":"10.1109/AIM.2016.7577006","DOIUrl":"https://doi.org/10.1109/AIM.2016.7577006","url":null,"abstract":"Large lecture rooms typically contain more than one projector/screen pair, but the presenter can point a hand-held laser pointer at only one screen at a time. If the audience at the other side of the room has difficulty seeing the laser pointer dot, the presentation performance may be compromised. This paper introduces a robotic laser pointer system to solve such a problem. After calibration, a camera monitoring the primary screen continuously feeds images to a computer that detects and localizes the laser dot by comparing successive frames. The computer uses inverse kinematics to calculate the joint angles needed for a pan/tilt base holding another laser pointer to reproduce the laser position on the other screen. Quantitative evaluation verifies the system's capabilities and reveals potential improvements and further experiments needed to deploy the system in real lecture settings.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"270 2 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":"121123730","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}
Alessio Levratti, A. D. Vuono, C. Fantuzzi, C. Secchi
{"title":"TIREBOT: A novel tire workshop assistant robot","authors":"Alessio Levratti, A. D. Vuono, C. Fantuzzi, C. Secchi","doi":"10.1109/AIM.2016.7576855","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576855","url":null,"abstract":"In this paper a novel tire workshop assistant robot is presented. The robot can load heavy wheels and transport them in any place of the workshop, lifting the operator from the effort of doing it manually. The operator can interact with the robot through gestures, which are captured by a RGB-D camera and translated into commands, or teleoperate it through a control station equipped with a haptic interface, which can also return a force feedback. The robot can also operate autonomously with a mission manager that decides where the robot has to go in order to accomplish a certain task. The paper presents a description of the design process and motivations of every design choice.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"74 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":"122352832","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}
Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, A. Schmitz, Mitsuhiro Kamezaki, S. Sugano
{"title":"Exploring the use of light and display indicators for communicating directional intent","authors":"Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, A. Schmitz, Mitsuhiro Kamezaki, S. Sugano","doi":"10.1109/AIM.2016.7577007","DOIUrl":"https://doi.org/10.1109/AIM.2016.7577007","url":null,"abstract":"Legible robot behavior is a key element for smooth and efficient navigation among humans. However, at present, even the state-of-the-art robots cannot communicate its internal state of directional intent by displaying human-like non-verbal cues. In this paper, we explore various modes for communicating directional intent of a robot across three different scenarios as a means of overcoming the shortcomings of the robot's non-verbal communication abilities. Specifically, we look into turn indicators, display indicators, and their combinations with sound and investigate their effectiveness across different passing scenarios. Our study shows us that using auxiliary communicating methods significantly improves the perceived feelings of our dependent measures. Further, communicating intention also helps in improving cooperation. However, the effectiveness greatly varies with the modes and the passing scenarios. In the case of 90 degrees crossing scenario, even though participants have positive perceived feelings, this does not necessarily translate into smooth and efficient navigation.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"114 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":"116535228","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}
M. Fumagalli, E. Barrett, S. Stramigioli, R. Carloni
{"title":"Analysis of an underactuated robotic finger with variable pinch and closure grasp stiffness","authors":"M. Fumagalli, E. Barrett, S. Stramigioli, R. Carloni","doi":"10.1109/AIM.2016.7576794","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576794","url":null,"abstract":"This paper presents an innovative design concept for an underactuated robotic finger which can perform adaptable closure and pinch grasping. The mechanically simple design combines an underactuated spring-loaded enclosing mechanism with a Variable Stiffness Actuator, which can be used to regulate the mechanical stiffness and interaction forces of the finger during grasping. This highly desirable property can enable the finger to be used as an adaptable and versatile gripper that can interact with its environment with minimal control effort. The design of the proposed underactuated robotic finger is presented and its main features are discussed. The interplay between the finger mechanism and its variably compliant actuation is analyzed for different grasps and load conditions, before the finger's properties are experimentally validated and the pinch and enveloping grasp capabilities demonstrated.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"46 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":"121446816","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}
{"title":"Design development of a flywheel energy storage system for isolated Pacific Island communities","authors":"D. Aitchison, M. Cirrincione, N. Leijtens","doi":"10.1109/AIM.2016.7577003","DOIUrl":"https://doi.org/10.1109/AIM.2016.7577003","url":null,"abstract":"Many Pacific Island Countries (PICs) lack the benefit of electrification in their outer lying regions, particularly on remote islands. Consequently, alternative power sources have been investigated for such situations and are widely reported; for example: wind, wave, tidal and solar generation. In isolation these technologies provide heavily disrupted electrical power, unless backed by a substantial and thereby expense power storage system. More recently, the emergent micro grid concept has facilitated the integration of these discrete power sources and has therefore extended their temporal utility, making them more useful to their host communities. However, with the addition of an energy storage device within the micro grid architecture (typically a battery bank) further enhancements to the around-the-clock accessibility of electrical power can be readily achieved for such system users. This paper explores the feasibility of developing a new, low speed Flywheel Energy Storage System (FESS) for use in the pacific region by small and isolated communities. Also, the specific electrical power needs, of the outlying communities, are presented prior to technical solutions being sought. Optimized flywheel performance, electro-mechanical coupling, safety and environmental impact are all addressed in the development, alongside other crucial technical consideration and state-of-the-art technological developments. The reported work is leading to the practical implementation of a FESS bound micro grid in remote Oceania.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"2 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":"127910563","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}
{"title":"Development of wireless power transfer system for robot arm with rotary and linear movement","authors":"S. Kikuchi, T. Sakata, E. Takahashi, H. Kanno","doi":"10.1109/AIM.2016.7577001","DOIUrl":"https://doi.org/10.1109/AIM.2016.7577001","url":null,"abstract":"Warehouse automation systems that use robots to save human labor are becoming increasingly common. In a previous study, a picking system using a multi-joint type robot was developed. However, articulated robots are not ideal in warehouse scenarios, since inter-shelf space can limit their freedom of motion. Although the use of linear motion-type robots has been suggested as a solution, their drawback is that an additional cable carrier is needed. The authors therefore propose a new configuration for a robot manipulator that uses wireless power transmission (WPT), which delivers power without physical contact except at the base of the robot arm. We describe here a WPT circuit design suitable for rotating and sliding-arm mechanisms. Overall energy efficiency was confirmed to be 92.0%.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"181 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":"127525836","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}
{"title":"Model-based selective catalytic reduction systems aging estimation","authors":"Yao Ma, Junmin Wang","doi":"10.1109/AIM.2016.7576986","DOIUrl":"https://doi.org/10.1109/AIM.2016.7576986","url":null,"abstract":"This paper presents an estimation method for automotive selective catalytic reduction (SCR) systems aging conditions. SCR has been widely recognized as one of the leading after treatment systems for reducing Diesel powertrain tailpipe NOx emissions in ground vehicle applications. While fresh SCRs are quite effective in reducing tailpipe NOx emissions, their NOx reduction capabilities and performances may substantially degrade with in-service aging. To maintain the emission control performance of a SCR system during the entire vehicle service life, it is thus critical to have an accurate estimation of SCR system aging condition. In this paper, a Lyapunov-based observer is analytically developed for estimating the SCR aging condition and verified in simulations. The measurement uncertainty is explicitly considered in the observer design process. A sufficient condition for the boundedness of the estimation error is derived. Simulation results under the US06 test cycle demonstrate effectiveness of the proposed observer.","PeriodicalId":154457,"journal":{"name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"58 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":"134198645","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}