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2018 11th International Symposium on Mechatronics and its Applications (ISMA)最新文献

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Highly sensitive piezo-based touch sensor for robotics applications 用于机器人应用的高灵敏度压电触摸传感器
2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330117
Areen Allataifeh, Kshiti Deolalkar, Mahmoud Al Ahmad
{"title":"Highly sensitive piezo-based touch sensor for robotics applications","authors":"Areen Allataifeh, Kshiti Deolalkar, Mahmoud Al Ahmad","doi":"10.1109/ISMA.2018.8330117","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330117","url":null,"abstract":"The proposed device is a piezoresistive sensor that converts mechanical energy from robot finger's movement into electrical energy to be used as feedback for sensing. The device consists of a piezoresistive layer with two upper interconnected fractals. The generated voltage versus the input force, as well as the current-voltage characteristic of the device, are extracted from the simulation result. The major advantage provided by this device is a high sensitivity of sensing objects in the surrounding.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122263289","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
IoT-based real-time poultry monitoring and health status identification 基于物联网的家禽实时监测与健康状态识别
2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330139
A. Raj, J. Jayanthi
{"title":"IoT-based real-time poultry monitoring and health status identification","authors":"A. Raj, J. Jayanthi","doi":"10.1109/ISMA.2018.8330139","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330139","url":null,"abstract":"Poultry Management is one major agriculture business. The big challenge in the poultry is to identify the disease in the early stage and avoid to spread the disease to another. Most of the cases it needs an intense labor and training. We propose an embedded system that can monitor the poultry and distinguish the affected ones from the group. This will allow the users to detect the sick units earlier and leads a cost effective solution for poultry industry. The initial target of this paper is to develop an embedded IOT system connected with the server that can monitor the poultry farms. The second target is to present the current work that has been done on sound analysis for poultry industry. The third target is to describe the future work that can be done to develop real-time IOT system.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133412713","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
Identification of lonely barycentric parameters of parallel kinematics mechanism with rank-deficient observation matrix 基于秩缺观测矩阵的并联机构孤立质心参数辨识
2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330120
A. Rosyid, B. El-Khasawneh, A. Alazzam
{"title":"Identification of lonely barycentric parameters of parallel kinematics mechanism with rank-deficient observation matrix","authors":"A. Rosyid, B. El-Khasawneh, A. Alazzam","doi":"10.1109/ISMA.2018.8330120","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330120","url":null,"abstract":"In parameter identification of dynamic system presented as linear system, the observation matrix is commonly rank-deficient. The widely used approach is transforming the system to new, full-rank system and accordingly estimating the dynamic parameters as linear combinations. The treatment becomes relatively more difficult when dealing with parallel kinematics mechanism due to lengthy expression of their inverse dynamics and hence difficulty to transform it to dynamic identification model manually. This paper presents a new approach which does not require such transformation and is able to present the estimates as lonely parameters. This is conducted by iteratively minimizing the residual instead of solving the estimates by using linear least squares technique. The transformation from the inverse dynamics model to the dynamic identification model is accomplished by symbolic computation.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132873062","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: 1
The design techniques and applications of gas measurement systems based on MOX sensor array 基于MOX传感器阵列的气体测量系统设计技术及应用
2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330128
Luay Shahin
{"title":"The design techniques and applications of gas measurement systems based on MOX sensor array","authors":"Luay Shahin","doi":"10.1109/ISMA.2018.8330128","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330128","url":null,"abstract":"In scientific research and industry, efforts have been made to approach a gas sensor which would possess high sensitivity, dynamic range, selectivity and stability. MOX sensors based systems possess a significant advantages over traditional gas chromatography methods in terms of size, cost, and response time. In real applications, obtaining a high performance system is a very difficult task. Considered as a multidisciplinary field of study, the number of publications addressing the electronic based olfaction systems, mostly under controlled environment, is growing rapidly. In this paper we present the design techniques and applications of measurement systems based on the MOX sensor array.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116470785","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
A two stage, adaptive-optimized Li-ion battery parameters estimation strategy 一种两阶段自适应优化锂离子电池参数估计策略
2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330127
H. U. Butt, S. Mukhopadhyay, Habib ur Rehman
{"title":"A two stage, adaptive-optimized Li-ion battery parameters estimation strategy","authors":"H. U. Butt, S. Mukhopadhyay, Habib ur Rehman","doi":"10.1109/ISMA.2018.8330127","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330127","url":null,"abstract":"This paper explores the effects of optimization following the adaptive parameters estimation (APE) on Li-ion battery parameter estimates. The universal adaptive stabilizer (UAS) based APE method has been proven to be less expensive both computationally and in terms of required experimental effort. However, the APE method requires the user to make an appropriate initial guess of upper, lower bounds and their respective confidence levels for each parameter. Making such initial guesses are not trivial, and the effects of bad initial guesses are proposed to be mitigated by adopting a well-known particle swarm optimization (PSO) technique to further optimize parameters estimates, after APE terminates. The estimates obtained from the APE method narrow the search interval and thus reduce the computational effort of the PSO technique to identify the optimum estimates of Li-ion battery parameters. In this work, the APE followed by PSO based scheme is developed and validated through simulation results on a well known, and experimentally validated Li-ion battery model.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122144920","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
Fractional-order complementary filters for small unmanned aerial system attitude estimation 小型无人机系统姿态估计的分数阶互补滤波器
2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330140
C. Coopmans, Michal Podhradský, Nathan Hoffer
{"title":"Fractional-order complementary filters for small unmanned aerial system attitude estimation","authors":"C. Coopmans, Michal Podhradský, Nathan Hoffer","doi":"10.1109/ISMA.2018.8330140","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330140","url":null,"abstract":"For small unmanned aerial systems (sUAS), the problem of estimation of orientation angles relative to the Earths surface (attitude) is of major importance. Usually, this estimation is performed by the combination of several kinds of sensor data by a Kalman filter or complementary-style filter producing a navigation-quality solution. Kalman filters make assumptions about linearity and statistical properties of the sensor noise, which must be accurate for proper functioning of the filter. Another option, the complementary filter, is more simple, and does not make these assumptions. Although the applications of the complementary filter have been researched in depth, the complementary filter can be combined in a novel way with fractional-order filters for the purpose of small UAS flight. In this paper, a roll-pitch fractional-order estimator is shown in flight configuration (real-time code) on a small sUAS. With fewer tunable parameters, we show that the fractional-order filter is more simple to implement. Realtime results are shown which indicate adequate performance relative to an existing quaternion-based Kalman filter-based estimator.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128416970","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
A reduced cascaded fuzzy logic controller for dynamic window weights optimization 一种用于动态窗权优化的简化级联模糊逻辑控制器
2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330141
O. A. Abubakr, M. Jaradat, M. A. Hafez
{"title":"A reduced cascaded fuzzy logic controller for dynamic window weights optimization","authors":"O. A. Abubakr, M. Jaradat, M. A. Hafez","doi":"10.1109/ISMA.2018.8330141","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330141","url":null,"abstract":"Mobile robots in indoor environments require path planning techniques with very fast processing cycles and ability to work in dynamic environments. The dynamic window approach is one of the most sophisticated approaches in obstacle avoidance. It uses objective function to choose the optimal velocity commands. The objective function consist of three components. Changing the weights of these component will change the behavior of the algorithm. In this paper, a fuzzy logic controller that depends only on the obstacles distribution around the robot and uses less number of rules in the fuzzy logic is proposed. When compared with the other fuzzy logic controller this approach is much faster, reducing the processing cycle time for the overall approach and also the path obtained is smoother and with higher velocities in areas crowded with obstacles.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121691775","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: 10
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