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2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics最新文献

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Innovative XY-theta platform held by a serial redundant arm 创新的XY-theta平台由一系列冗余臂支撑
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648955
J. Brethé, A. Hijazi, D. Lefebvre
{"title":"Innovative XY-theta platform held by a serial redundant arm","authors":"J. Brethé, A. Hijazi, D. Lefebvre","doi":"10.1109/ECMSM.2013.6648955","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648955","url":null,"abstract":"This paper presents a XV-theta micrometric platform, which is extremely compact and offers a wide 300×300 mm workspace. The novelty is that the platform is hold by a serial kinematic chain of four revolute joints, constituting a redundant robot. Each point of the platform can be positioned under a vertical axis with a final error less than two μm in a two-step approach: in a coarse positioning mode, the four axes are controlled to position and orientate the object with an error less than five μm; in a fine mode, two axes are mechanically blocked while two others are controlled to reduce the final error below two μm. The choice of the blocked and moving axes depend on the lever arm length and the mechanism is designed to optimise the link lengths to reduce the final error.","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115437488","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
A branch and bound approach for minimizing the energy consumption of an electrical vehicle 一种用于最小化电动车辆能耗的分支定界方法
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648938
Abdelkader Merakeb, F. Messine
{"title":"A branch and bound approach for minimizing the energy consumption of an electrical vehicle","authors":"Abdelkader Merakeb, F. Messine","doi":"10.1109/ECMSM.2013.6648938","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648938","url":null,"abstract":"In this paper we discuss about the way to approximate the solution of an optimal control problem with a switched command. Our Method is based on a discretization technique associated with a Branch and Bound algorithm. The problem that we focus on is the minimization of the consumption of the energy of an electrical vehicle during some imposed displacements.","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121590070","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
Modular interleaved carrier generator using a straightforward implementation method 使用模块化交错载波发生器的简单实现方法
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648934
Zijian Xiao, M. Cousineau
{"title":"Modular interleaved carrier generator using a straightforward implementation method","authors":"Zijian Xiao, M. Cousineau","doi":"10.1109/ECMSM.2013.6648934","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648934","url":null,"abstract":"This article presents a modular approach to generate the interleaved carriers of a parallel converters. Compared with previous solutions requiring accurate analog computations, a straightforward implementation of the generator is proposed here. By using only comparators and logical gates dedicated to the tuning of the carrier phase, a correct interleaving of the carriers is obtained in steady-state. The simplicity of the circuit offers the opportunity to implement it in a digital system. Connected together in a daisy-chain topology, the carrier generators communicate with its neighboring modules. This solution presents a complete modularity and allows reconfiguring the converter from a given number of legs to another without any additional consideration. In order to guarantee a proper start-up, some special cares on the setup of the carrier generators have to be considered. A study of the start-up is presented which ensure the system convergence for any number of legs.","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124059740","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: 11
Comparison and error analysis of the standard pin-hole and Scheimpflug camera calibration models 标准针孔与Scheimpflug相机标定模型的比较与误差分析
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648945
Aritz Legarda, A. Izaguirre, Nestor Arana, A. Iturrospe
{"title":"Comparison and error analysis of the standard pin-hole and Scheimpflug camera calibration models","authors":"Aritz Legarda, A. Izaguirre, Nestor Arana, A. Iturrospe","doi":"10.1109/ECMSM.2013.6648945","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648945","url":null,"abstract":"The Scheimplug condition consists on tilting the image plane (CCD plane) respect to the lens plane in order to increase the depth of field of a camera. The problem with this kind of cameras is that the conventional calibration methods doesn't take into account the introduced angle between the image plane and the lens plane. Only if the angle (from now on Scheimpflug angle) is small, the tangential distortions would compensate the error generated by tilting the sensor. In this article a comparison between a the Scheimpftug camera model, which includes the Scheimplug angle in the intrinsic camera parameters and the classical pin-hole camera model is made. Simulation and experimental results shows that better calibration results can be obtained using the Scheimpftug camera model.","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124173666","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: 12
Progress on self-mixing sensors for in-situ displacement measurement 原位位移测量用自混合传感器研究进展
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648959
Antonio Luna Arriaga, F. Bony, T. Bosch
{"title":"Progress on self-mixing sensors for in-situ displacement measurement","authors":"Antonio Luna Arriaga, F. Bony, T. Bosch","doi":"10.1109/ECMSM.2013.6648959","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648959","url":null,"abstract":"This document presents a survey on reported devices exploiting the emerging technology of self-mixing interferometry for non-contact displacement reconstruction. Nowadays, there is a broad diversity of signal processing methods over self-mixing devices, making difficult to decide which one would satisfy a given application domain. It has been observed that a change in the requirements specification implies a complete redesign of the system. Therefore, this analysis aims to identify the characteristics and features of actual systems in order to narrow the path to take towards the development of an embedded sensor. For this study, we consider the systems promising a robust usage for operation in a non-conditioned environment. We present the tradeoffs between complex signal processing, the usage of external components and precision of the device. From this report we observe that maintainability and scalability still penalize overall system deployment and we suggest that should be considered for time-to-market solutions.","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114384072","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
Eye-in-hand/eye-to-hand configuration for a WMRA control based on visual servoing 基于视觉伺服的WMRA控制的眼手/眼手配置
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648971
M. Elarbi-Boudihir, K. Al-shalfan
{"title":"Eye-in-hand/eye-to-hand configuration for a WMRA control based on visual servoing","authors":"M. Elarbi-Boudihir, K. Al-shalfan","doi":"10.1109/ECMSM.2013.6648971","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648971","url":null,"abstract":"People suffering from severe disability like spinal cord injury dysfunctions are unable to control a wheelchair via a common joystick interface. For this target group we have developed a robotic wheelchair able to perform autonomous navigation and operate on different driving modes depending on the disability type of its user. Moreover, a 7-DoF wheelchair - mounted robotic arm (WMRA) was added to the 2-DoF nonholonomic wheelchair platform. In this paper, an image - based visual servoing (IBVS) approach is described with a Speeded Up Robust local Features detection (SURF) using eye-in-hand and eye-to-hand camera configuration for combined control of mobility and manipulation of the 9-DoF WMRA system to execute activities of daily living (ADL) autonomously. Selecting a control mode is done either by voice or by the touchscreen. Experiments with human users highlight advantages of augmentation in wheelchairs.","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114449682","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: 7
Non-linear full-state control of a flexible hypersonic vehicle 柔性高超声速飞行器的非线性全状态控制
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648939
Elodie Duraffourg, L. Burlion, T. Ahmed-Ali, F. Lamnabhi-Lagarrigue
{"title":"Non-linear full-state control of a flexible hypersonic vehicle","authors":"Elodie Duraffourg, L. Burlion, T. Ahmed-Ali, F. Lamnabhi-Lagarrigue","doi":"10.1109/ECMSM.2013.6648939","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648939","url":null,"abstract":"Based on Lyapunov's techniques and a change of coordinates, a new approach to design a global and asymptotic stable controller for the longitudinal inner loop of a flexible hypersonic aircraft is proposed in this paper. The objective is to steer the angle of attack to a desired value while improving the damping of the bending modes. The full state is used in the controller to better damp the oscillations of the bending mode during the transient. Finally, the non-linear control law is united with a LQ controller to change the local behavior of the trajectories and locally damp out the bending modes.","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132977971","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
Effects of audio coding on ICA performance: An experimental study 音频编码对ICA性能影响的实验研究
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648949
M. Puigt, E. Vincent, Y. Deville, Anthony Griffin, A. Mouchtaris
{"title":"Effects of audio coding on ICA performance: An experimental study","authors":"M. Puigt, E. Vincent, Y. Deville, Anthony Griffin, A. Mouchtaris","doi":"10.1109/ECMSM.2013.6648949","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648949","url":null,"abstract":"In this paper, we study the influence of lossy audio coding on the performance of Independent Component Analysis (ICA). In particular, we derive two compression scenarios from practical implementations. In the first case, we consider the situation when the sources are independently compressed, decompressed and then mixed. In the second, we consider the situation when mixtures of sources are jointly compressed. We experimentally show that the modification of the spectro-temporal diversity due to compression has almost no effect on the performance of ICA methods. We also show that the two tested stereo encoding strategies have a major effect on the performance of ICA, especially when the mixed signals are compressed at low bit rates. As these strategies have been extended to audio systems involving much more than two channels, our work suggests that ICA will not be able to successfully process the high number of observations provided by modern immersive audio systems.","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115593046","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
Improvements in computational aspects of interval Kalman filtering enhanced by constraint propagation 约束传播增强区间卡尔曼滤波计算方面的改进
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648950
J. Xiong, Carine Jauberthie, L. Travé-Massuyès
{"title":"Improvements in computational aspects of interval Kalman filtering enhanced by constraint propagation","authors":"J. Xiong, Carine Jauberthie, L. Travé-Massuyès","doi":"10.1109/ECMSM.2013.6648950","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648950","url":null,"abstract":"This paper deals with computational aspects of interval kalman filtering of discrete time linear models with bounded uncertainties on parameters and gaussian measurement noise. In this work, we consider an extension of conventional Kalman filtering to interval linear models [1]. As the expressions for deriving the Kalman filter involve matrix inversion which is known to be a difficult problem. One must hence find a way to implement or avoid this tricky algebraic operation within an interval framework. To solve the interval matrix inversion problem and other problems due to interval calculus, we propose an original approach combining the set inversion algorithm SIVIA and constraint satisfaction propagation. Several contractors are proposed to limit overestimation effects propagating within the interval Kalman filter recursive structure. Thus the description of our approach is followed by an application and we compare the proposed approach with interval kalman filtering developped in [1].","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"604 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131706576","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
Feedback control method based on servomechanism speed estimating and processing to reduce residual vibration 基于伺服机构速度估计和处理的反馈控制方法，以减少残余振动
2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics Pub Date : 2013-06-24 DOI: 10.1109/ECMSM.2013.6648941
D. Lindr, A. Richter, P. Rydlo
{"title":"Feedback control method based on servomechanism speed estimating and processing to reduce residual vibration","authors":"D. Lindr, A. Richter, P. Rydlo","doi":"10.1109/ECMSM.2013.6648941","DOIUrl":"https://doi.org/10.1109/ECMSM.2013.6648941","url":null,"abstract":"The paper presents a functional method for suppression of the two-mass system residual vibrations. The vibrations are excited due to the common effect of torsion plasticity and large moment of inertia of kinematical chain components. The described strategy is based on a mathematical model of servomechanism which is predicting the actual speed of the kinematical chain end-point. The estimated speed of the endpoint is consequently subtracted from the internally measured speed at the motor shaft and by means of weighting and phase shifting there is computed the correction signal which is ready to be used in conventional control structure and in this way to effectively damp the residual vibrations of the kinematical chain end-point. The method functionality was tested first in the numerical simulation of the servomechanism mathematical model and after that it was integrated into the existing cascade structure of the standard servo control unit Siemens Sinamics S120 and verified experimentally on the real system. The result both of the simulations and experiments on the real device, shown in the final part of the article, demonstrate the ability of this method to effectively damp the residual vibrations of the mechanism end-point.","PeriodicalId":174767,"journal":{"name":"2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics","volume":"231 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131042570","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: 9
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