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2009 35th Annual Conference of IEEE Industrial Electronics最新文献

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Visual tracking based on multiple cameras with MHS cooperation strategy 基于MHS合作策略的多摄像机视觉跟踪
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415354
Hui-Pin Huang, M. Cheng, Shang-Shiun Shie
{"title":"Visual tracking based on multiple cameras with MHS cooperation strategy","authors":"Hui-Pin Huang, M. Cheng, Shang-Shiun Shie","doi":"10.1109/IECON.2009.5415354","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415354","url":null,"abstract":"In this paper, multiple cameras are used to implement a multi-purpose real-time visual tracking system. A modified adaptive background subtraction method is used to detect moving objects, and a multi-cue matching approach is employed to track a moving target. The epipolar constraint and color histogram matching are used to deal with the correspondence problem that occurs when multiple cameras are used without camera calibration being performed. An effective and robust Master-Helper-Slave (MHS) cooperation strategy is proposed to further improve the tracking performance. An active PTZ camera is integrated to perform dynamic tracking. The proposed visual tracking system can continuously track a moving target and estimate its corresponding position in the field of view (FOV) of each camera, even if the target is occluded in some of the cameras' FOVs. Experimental results show that the proposed approach exhibits satisfactory performance.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130851322","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
Aligning the real space with the model on see-through typed HMD for mixed reality 将真实空间与混合现实的透视式HMD模型对齐
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415059
T. Fuji, Y. Mitsukura, T. Tanabata, N. Kimura, T. Moriya
{"title":"Aligning the real space with the model on see-through typed HMD for mixed reality","authors":"T. Fuji, Y. Mitsukura, T. Tanabata, N. Kimura, T. Moriya","doi":"10.1109/IECON.2009.5415059","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415059","url":null,"abstract":"In this paper, we propose an approach to align the real space with the three-dimensional (3D) model for outdoor wearable mixed reality (MR) system. In our approach, we use a monocular see-through typed head-mounted display (ST-HMD) and a virtual reality (VR) sensor. We can measure six degree-of-freedom (6DOF) using this sensor. In the default setting, it is difficult and burden for people to handle the 3D model using air mouse. Therefore, we reduce the burden by automating the default setting. Moreover, when the user changes the viewpoint, we need to change the computer graphics (CG) model on ST-HMD with corresponding to the real objects of the difference in vision. We obtain the translation and rotation data from VR sensor to reflect the CG model. Then, we structured the alignment system in this system. Furthermore, in order to evaluate the proposed alignment for three-dimensional (3D) model, we show some results of the wearable aligning system using the 3D model.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125629424","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
Subsystem control based target tracking for two-wheeled mobile manipulator 基于分系统控制的两轮移动机械臂目标跟踪
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5415363
Tetsuro Ikeda, T. Murakami
{"title":"Subsystem control based target tracking for two-wheeled mobile manipulator","authors":"Tetsuro Ikeda, T. Murakami","doi":"10.1109/IECON.2009.5415363","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415363","url":null,"abstract":"To date, robots are expected to work in human environment. However, symbiotic robots need advanced abilities. In this research, we pay attention to “movement ability” and “recognition ability”. We chose two-wheeled mobile manipulator with a monocular camera. Therefore, the purpose is to achieve both the target tracking and the attitude stabilization. Firstly, the new visual servoing is proposed in the work space. In addition, some controls are designed in the null space. Experiment was carried out to show the validity of the proposed method.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"269 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116250653","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
Distinction of connection condition of system in bilateral control 双边控制中系统连接条件的区分
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5414830
Takeshi Okura, S. Katsura
{"title":"Distinction of connection condition of system in bilateral control","authors":"Takeshi Okura, S. Katsura","doi":"10.1109/IECON.2009.5414830","DOIUrl":"https://doi.org/10.1109/IECON.2009.5414830","url":null,"abstract":"Recently, haptic information is studied as the third multimedia information. In order to control haptic information, bilateral control with a master slave system is used widely. Because the plural systems are handled, it becomes important to think of the connection condition among the systems. In this paper, the difference with unilateral control system and bilateral control system will be confirmed by two methods. First method, the graph theory is used. Second method is that the transfer function of the unilateral control is found. From the experiment result, it is shown that even if we added the same input to the master system, the movement distance of the system changed depending on strength of the connection of the system.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132017488","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
Cogging torque reduction in axial flux machines for small wind turbines 小型风力涡轮机轴向磁通机的齿槽转矩减小
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-12-01 DOI: 10.1109/IECON.2009.5414896
M. Hsieh, D. Dorrell, Yu-Han Yeh, S. Ekram
{"title":"Cogging torque reduction in axial flux machines for small wind turbines","authors":"M. Hsieh, D. Dorrell, Yu-Han Yeh, S. Ekram","doi":"10.1109/IECON.2009.5414896","DOIUrl":"https://doi.org/10.1109/IECON.2009.5414896","url":null,"abstract":"This paper presents a technique for cogging torque reduction in an axial-flux permanent-magnet (PM) generator suitable for use in a small wind turbine. These machines can be compact and have high power density; they are axially short with larger diameter which makes then very suitable for a wind turbine. The inherent cogging torque can cause problems during turbine start-up and cut-in. In this paper, a turbine is characterized via the measurement in a wind tunnel. The characteristics are then used to determine the specification for the generator. A method called “hybrid skew” is proposed for cogging torque reduction. 3-D finite element analysis is applied to evaluate the method and a 88 % reduction of peak cogging torque was obtained when combined with another known technique. This significantly improves the turbine performance at low start-up speed while maintaining high power density. The technique can reduce manufacturing confusion in N/S pole placement and allow a simple magnet shape for lower cost manufacturing.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"200 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116155593","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: 27
Evaluation of ultra-compact rectifiers for low power, high-speed, permanent-magnet generators 用于低功率、高速、永磁发电机的超小型整流器的评估
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-11-03 DOI: 10.1109/IECON.2009.5414964
D. Krahenbuhl, C. Zwyssig, K. Bitterli, M. Imhof, J. Kolar
{"title":"Evaluation of ultra-compact rectifiers for low power, high-speed, permanent-magnet generators","authors":"D. Krahenbuhl, C. Zwyssig, K. Bitterli, M. Imhof, J. Kolar","doi":"10.1109/IECON.2009.5414964","DOIUrl":"https://doi.org/10.1109/IECON.2009.5414964","url":null,"abstract":"Literature reports several future portable and distributed power supplies in the watt to kilowatt range based on rotating machinery equipped with a variable-speed permanent-magnet generator. In order to generate a constant dc voltage, an ultra-compact, highly efficient, low power rectifier is required. In this paper, different topologies are compared concerning losses, volume and control complexity. The most suitable, the half controlled three-phase PWM boost rectifier (HCBR) is selected and evaluated, and a novel modulation scheme enhancing the power electronics efficiency is proposed. The integration into a compressed-air-to-electric-power-system with a generator rotating at 350 000 rpm is presented including measurement results.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"270 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134289561","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
Maximum torque control with inductance setting of extended EMF observer 最大转矩控制与电感设置的扩展电动势观测器
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-11-03 DOI: 10.1109/IECON.2009.5414661
T. Ohnuma, S. Doki, S. Okuma
{"title":"Maximum torque control with inductance setting of extended EMF observer","authors":"T. Ohnuma, S. Doki, S. Okuma","doi":"10.1109/IECON.2009.5414661","DOIUrl":"https://doi.org/10.1109/IECON.2009.5414661","url":null,"abstract":"This paper presents maximum torque control with inductance settings in extended EMF observers for sensorless controls. The maximum torque control is defined on maximum torque control frame (f-t axes), whose f-axis is parallel to tangential lines of the constant torque curves in the d-q current axes. The angle between f-t axes and d-q axes denoted by φ is defined as the tangential angles of the constant torque curves. As position estimation error caused by inductance error can be calculated, the inductance is set so as to make the estimated position error equal to φ. Since the maximum torque control is realized simply by making f-axis current component zero, complicated calculation is not required. Moreover, the proposed control is robust against magnetic saturation. The validity of the proposed system is confirmed by experiments.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121048194","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: 36
Fast torque control system of PMSM based on model predictive control 基于模型预测控制的永磁同步电机快速转矩控制系统
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-11-03 DOI: 10.1109/IECON.2009.5414654
Yuya Hozumi, S. Doki, S. Okuma
{"title":"Fast torque control system of PMSM based on model predictive control","authors":"Yuya Hozumi, S. Doki, S. Okuma","doi":"10.1109/IECON.2009.5414654","DOIUrl":"https://doi.org/10.1109/IECON.2009.5414654","url":null,"abstract":"This paper describes a fast torque control system of permanent magnet synchronous motor (PMSM) based on model predictive control (MPC). This torque controller selects directly one of the voltage vector of voltage source PWM inverter considering voltage saturation explicitly. To obtain the fast torque response at the transient state and the stable current response at the steady state, the problem with selecting the voltage vector to output is formulated based on MPC. In this paper, real-time implementation method using a look-up table, which is designed beforehand, is discussed and the experimental results are shown.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127584965","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: 19
Automatic trajectory generation for the milling of sculpted surfaces acquired from laser scanning systems 从激光扫描系统获得的铣削雕刻表面的自动轨迹生成
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-11-03 DOI: 10.1109/IECON.2009.5414913
J. Vilaça, J. Fonseca, A. Pinho
{"title":"Automatic trajectory generation for the milling of sculpted surfaces acquired from laser scanning systems","authors":"J. Vilaça, J. Fonseca, A. Pinho","doi":"10.1109/IECON.2009.5414913","DOIUrl":"https://doi.org/10.1109/IECON.2009.5414913","url":null,"abstract":"The present work describes a set of algorithms for the milling of sculpted surfaces acquired from laser scanning systems. The milling operations cover three operations: roughing, semi-finishing and finishing. The developed algorithms use techniques ranging from computer vision to computer graphics following a different approach when compared with the usual milling techniques, usually feature based. The implementation of 3D path simulator was also described and testing of the different milling trajectories presented.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134556665","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
Comparative study of Switched Reluctance Motors performances for two current distributions and excitation modes 两种电流分布和励磁方式下开关磁阻电机性能的比较研究
2009 35th Annual Conference of IEEE Industrial Electronics Pub Date : 2009-11-03 DOI: 10.1109/IECON.2009.5415318
Guang-Jin Li, X. Ojeda, S. Hlioui, E. Hoang, M. Gabsi, C. Balpe
{"title":"Comparative study of Switched Reluctance Motors performances for two current distributions and excitation modes","authors":"Guang-Jin Li, X. Ojeda, S. Hlioui, E. Hoang, M. Gabsi, C. Balpe","doi":"10.1109/IECON.2009.5415318","DOIUrl":"https://doi.org/10.1109/IECON.2009.5415318","url":null,"abstract":"This paper presents a 3-phase, 6-slot, and 4-pole Mutually Coupled Switched Reluctance Motor (MCSRM 6/4) with new current distribution. This kind of SRMs has both the merits of conventional SRMs and Fully Pitched SRMs, i.e. shorter end-windings and higher torque density. A comparison based on Finite Element Method (FEM) between conventional and mutually coupled SRMs, in terms of self flux-linkage and inductance per phase, mutual flux-linkage and inductance between phases, and output torque is realized. The conventional SRM is excited in unipolar mode, while the MCSRM is excited in bipolar overlapping mode. With a high coupling between phases for MCSRM, mutual inductances are employed to produce torque. Furthermore, the flux pathways are separated and distributed between phases, this leads to a less sensitivity to magnetic saturation. At high current density and high conduction angle, the MCSRM has a higher output torque and a lower torque ripple. Thus, comparing to conventional SRMs, the MCSRM is more outstanding for starter-generator applications (hybrid vehicles, aerospace) which needs high output torque.","PeriodicalId":160078,"journal":{"name":"2009 35th Annual Conference of IEEE Industrial Electronics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134431615","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: 38
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