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2015 IEEE International Conference on Mechatronics (ICM)最新文献

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Personal robot assisting transportation to support active human life — Human-following method based on model predictive control for adjacency without collision 辅助运输的个人机器人支持人类的主动生活——基于模型预测控制的无碰撞邻接人类跟随方法
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-09-01 DOI: 10.1109/IROS.2015.7354140
N. Hirose, R. Tajima, K. Sukigara
{"title":"Personal robot assisting transportation to support active human life — Human-following method based on model predictive control for adjacency without collision","authors":"N. Hirose, R. Tajima, K. Sukigara","doi":"10.1109/IROS.2015.7354140","DOIUrl":"https://doi.org/10.1109/IROS.2015.7354140","url":null,"abstract":"An aging society exists throughout the entire world. In order to support the aging society, service robots that are able to improve our comfortable lifestyle and increase longevity have been developed. However, excessive and premature robot support may cause not only the deterioration of our physical ability but also shortening of the period of well-being. In our research group, a personal robot that can carry baggage and automatically follow a human being was developed to overcome the above problem. The people that use this personal robot will be able to walk outside with empty hands, even after shopping, thus contributing to their health management. In this paper, the past prototypes of the personal robot are discussed, and the new robot is presented. Also, a human-following method based on model predictive control is proposed to realize the contradicting requirements of both shortening the relative distance between the owner and the robot and ensuring no collision. The effectiveness of the proposed approach is verified by numerical simulation of the prototype robot.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134144544","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: 17
Adaptive source localization with unknown permittivity and path loss coefficients 具有未知介电常数和路径损耗系数的自适应源定位
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083968
B. Fidan, Ilknur Umay
{"title":"Adaptive source localization with unknown permittivity and path loss coefficients","authors":"B. Fidan, Ilknur Umay","doi":"10.1109/ICMECH.2015.7083968","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083968","url":null,"abstract":"In wireless sensor network (WSN) and signal source localization tasks, permittivity and path loss coefficients, which characterize the specific signal propagation properties of the environment, have vital importance on the accuracy of location estimates. Therefore, these coefficients need to be accurately known or estimated for the effectiveness of the localization algorithm. In this paper, we propose a geometric cooperative technique to instantaneously estimate such coefficients, with details provided for received signal strength (RSS) and time-of-flight (TOF) based range sensors. Further, a discrete time recursive least squares (RLS) based adaptive localization scheme employing the proposed environmental propagation coefficient estimation technique is derived. Simulation studies, based on an unmanned aerial vehicle (UAV) localization scenario, of this adaptive localization scheme well demonstrate the effectiveness of the integration of the adaptive localization scheme and the proposed coefficient estimation technique.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115388756","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
Minimum collision avoidance distance control for four-wheel-driven electric vehicles with active front and rear steerings 具有主动前后转向的四轮驱动电动汽车最小避碰距离控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083999
Daisuke Sawamura, H. Fujimoto
{"title":"Minimum collision avoidance distance control for four-wheel-driven electric vehicles with active front and rear steerings","authors":"Daisuke Sawamura, H. Fujimoto","doi":"10.1109/ICMECH.2015.7083999","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083999","url":null,"abstract":"In this paper, an automatic collision avoidance method is studied, where it is formulated as an optimal control problem. Specifically, the problem is designed as minimization of the longitudinal distance to prevent collision. The optimal force inputs are obtained by the initial longitudinal and lateral velocities of the vehicle, as well as the lateral distance to avoid the obstacle. Then, the inputs are distributed to each tire force. By effectively using the tire-workload, collision avoidance performance is improved. Simulations and experiments are conducted to verify the effectiveness of the proposed approach.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123046271","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
Development of an optical fiber FMG sensor for the assessment of hand movements and forces 一种用于评估手部运动和力量的光纤FMG传感器的开发
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083969
E. Fujiwara, Yu Tzu Wu, M. F. M. Santos, E. Schenkel, C. Suzuki
{"title":"Development of an optical fiber FMG sensor for the assessment of hand movements and forces","authors":"E. Fujiwara, Yu Tzu Wu, M. F. M. Santos, E. Schenkel, C. Suzuki","doi":"10.1109/ICMECH.2015.7083969","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083969","url":null,"abstract":"The development of an optical fiber specklegram sensor for detection of force myography (FMG) signals produced by hand forces and movements is presented. The optomechanical transducers are attached to the user forearm, causing variations on speckle field intensities, which are processed and then correlated to particular hand postures. The results indicated the viability to identify changes on hand configurations and forces, in which the force retrieval can be implemented via artificial neural networks after a previous calibration. The fiber FMG sensor can be further applied on human-system interfaces, as well as integrated to glove-based sensors in order to provide a robust detection of hand movements and forces.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124442334","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
Taniguchi-pulse width amplitude modulation for high efficiency power train of electric vehicle 谷口-脉冲宽度调制用于电动汽车高效动力系统
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084004
Keisuke Ishida, A. Kawamura
{"title":"Taniguchi-pulse width amplitude modulation for high efficiency power train of electric vehicle","authors":"Keisuke Ishida, A. Kawamura","doi":"10.1109/ICMECH.2015.7084004","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084004","url":null,"abstract":"This paper proposes a Taniguchi-pulse width amplitude modulation (T-PWAM) method as a motor control method for increasing the efficiency of a power train of an electric vehicle (EV). A conventional sinusoidal pulse width modulation (SPWM) method of the motor control methods has a feature of a high switching frequency. This feature causes a high switching loss in a inverter. The T-PWAM method has two advantages compared to the SPWM method. Firstly, the switching frequency of the inverter is reduced to a maximum of one-third. Secondly, the voltage utilization rate is increased by a maximum of 18.1 %. Therefore, the switching loss can be reduced by the T-PWAM method. Additionally, The T-PWAM method has a voltage compensation function for increasing the usable speed range of the EV. In the simulation, this paper verified that the T-PWAM method increased both the inverter and motor efficiency compared to the SPWM method. Furthermore, three experimental results were verified. Firstly, the output voltage waveforms of a DC-DC converter and inverter with the T-PWAM method could be accurately generated. Secondly, the inverter efficiency in the SPWM and T-PWAM method were measured with the three phase resistance. Finally, the motor control with the T-PWAM method was implemented at an operating point.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125146394","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
Optimization of outer-rotor hybrid excitation FSM for in-wheel direct drive electric vehicle 轮内直驱电动汽车外转子混合激励FSM优化
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084061
Md. Zarafi Ahmad, E. Sulaiman, T. Kosaka
{"title":"Optimization of outer-rotor hybrid excitation FSM for in-wheel direct drive electric vehicle","authors":"Md. Zarafi Ahmad, E. Sulaiman, T. Kosaka","doi":"10.1109/ICMECH.2015.7084061","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084061","url":null,"abstract":"Research on flux switching machines (FSMs) has been an attractive topic recently due to tremendous advantages of robust rotor structure, high torque, and high power capability that suits for intense applications. However, most of the investigations are focusing on inner rotor structure which incongruous for direct drive applications. In this paper, the design optimization and performance analysis of 12Slot-14Pole hybrid excitation flux switching machine (HEFSM) with outer-rotor configuration are conducted for in-wheel direct drive electric vehicle (EV). Similar with conventional inner-rotor HEFSMs, two magnetic flux sources of permanent magnet (PM) and field excitation coil (FEC) have extra advantage of variable flux control capability, while the outer-rotor configuration has ability to provide much higher torque and power density suitable for in-wheel EV drives. Based on some design restriction and specification, design refinements are conducted on the initial design machine by using deterministic optimization approach. The final design machine has achieved maximum torque and power density of 335.08Nm and 5.93kW/kg, respectively, slightly better than inner rotor HEFSM and interior permanent magnet synchronous machine (IPMSM) design for EV.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124584642","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: 20
Map building of uncertain environment based on iterative closest point algorithm on the cloud 基于云上迭代最近点算法的不确定环境地图构建
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083971
Yi-Jou Wen, C. Hsu, Wei-Yen Wang
{"title":"Map building of uncertain environment based on iterative closest point algorithm on the cloud","authors":"Yi-Jou Wen, C. Hsu, Wei-Yen Wang","doi":"10.1109/ICMECH.2015.7083971","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083971","url":null,"abstract":"The Iterative Closest Point (ICP) algorithm is to align for the two point sets, which is widely used in map building of an uncertain environment. However, the original ICP algorithm is easily affected by noise and discrete points, making the error of alignment very large. At the same time, in a row scanning by the Laser Range Finder (LRF), the more data points accumulate, the larger the errors of alignment become, which leads to an unpreferable map, and the process would be time consuming. This paper proposes a map building of an uncertain environment based on an enhanced ICP (E-ICP) algorithm on the cloud, called E-ICP on the cloud, and presented a way to reduce duplicate reference point set. Thus, one can significantly reduce the computational burden, improve the accuracy of alignment, and get a more accurate environmental map.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127636042","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
Heavy-duty omni-directional Mecanum-wheeled robot for autonomous navigation: System development and simulation realization 重型全向机械轮式自主导航机器人:系统开发与仿真实现
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083984
Li Xie, Christian Scheifele, Weiliang Xu, K. Stol
{"title":"Heavy-duty omni-directional Mecanum-wheeled robot for autonomous navigation: System development and simulation realization","authors":"Li Xie, Christian Scheifele, Weiliang Xu, K. Stol","doi":"10.1109/ICMECH.2015.7083984","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083984","url":null,"abstract":"A Mecanum-wheeled robot benefits from great omni-direction maneuverability. However it suffers from random slippage and high-speed vibration, which creates electric power safety, uncertain position errors and energy waste problems for heavy-duty tasks. A lack of Mecanum research on heavy-duty autonomous navigation demands a robot platform to conduct experiments in the future. This paper introduces AuckBot, a heavy-duty omni-directional Mecanum robot platform developed at the University of Auckland, including its hardware overview, the control system architecture and the simulation design. In particular the control system, synergistically combining the Beckhoff system as the Controller-PC to serve low-level motion execution and ROS as the Navigation-PC to accomplish highlevel intelligent navigation tasks, is developed. In addition, a computer virtual simulation based on ISG-virtuos for virtual AuckBot has been validated. The present status and future work of AuckBot are described at the end.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130751535","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: 30
Force sensorless power assist control using operation force observer for nursing lift 护理升降机无力传感器动力辅助控制，采用操作力观测器
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083977
Masakazu Ishihara, Kazuaki Ito, K. Inuzuka
{"title":"Force sensorless power assist control using operation force observer for nursing lift","authors":"Masakazu Ishihara, Kazuaki Ito, K. Inuzuka","doi":"10.1109/ICMECH.2015.7083977","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083977","url":null,"abstract":"This paper proposes a power assist control methodology based on an operation force observer for a nursing lift, where operation force of nurse applying to the nursing lift is estimated using an operation force observer. In order to improve estimation performance for the operation force, a position information based disturbance observer is applied, in which no differentiators are needed to calculate acceleration for the system. As for the power assist algorithm, a position control based power assist system is applied, where the position reference for the nursing lift is generated based on an impedance control method using assist force calculated by the estimated force of nurse. The effectiveness of the proposed power assist system has been verified by experiments using a prototype of a nursing lift.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133192601","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
Elimination of reactive operational force in bilateral control system under time delay 时滞下双边控制系统无功作战力的消除
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084040
Ryohei Kozuki, Kenji Ogawa, K. Ohnishi
{"title":"Elimination of reactive operational force in bilateral control system under time delay","authors":"Ryohei Kozuki, Kenji Ogawa, K. Ohnishi","doi":"10.1109/ICMECH.2015.7084040","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084040","url":null,"abstract":"In this paper, the method which eliminates the reactive operational force in bilateral control system under time delay is proposed. In bilateral control system under time delay, an operator feels large operational force. In addition to that, amplitude of response increases and it makes system unstable. In this paper, the proposed method eliminates this increasing. Therefore, operationality in free motion is improved. To solve this problem, reactive operational force is introduced which is calculated by using power factor in mechanical system. Power factor in mechanical system is derived from power factor in electrical system. Then, the concept of power factor is explained. In this research, only free motion is considered. Then, contact motion should be considered in future work. The performances of the previous method and the proposed method are evaluated through experiments.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114476350","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
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