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

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Circle theorem-based realization of nonlinear force control for teleoperation under time delay 基于圆定理的时滞遥操作非线性力控制实现
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084038
Hidetaka Morimitsu, S. Katsura
{"title":"Circle theorem-based realization of nonlinear force control for teleoperation under time delay","authors":"Hidetaka Morimitsu, S. Katsura","doi":"10.1109/ICMECH.2015.7084038","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084038","url":null,"abstract":"The communication delay is one of the major problems existing in the bilateral teleoperation system since it largely degrades the performance. This study treats the acceleration-based bilateral control (ABC) as a basic controller. According to the analyses, it is shown that a trade-off between the operationality and the reproduction performance of the kinesthetic contact exists in designing the ABC under time delay. For addressing this, adjustment of the force control gain according to the situations of the bilateral control is proposed. For ensuring the stability of the system with the nonlinear controller, circle theorem is applied to the proposed system. Experimental results show that the proposed system can realize stable operation as well as the improved performance over the bilateral control system with constant gain.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"35 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":"121955713","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 novel intention prediction strategy for a shared control tele-manipulation system in unknown environments 未知环境下共享控制远程操作系统的意图预测策略
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083975
Haitham El-Hussieny, Samy F. M. Assal, A. Abouelsoud, S. M. Megahed
{"title":"A novel intention prediction strategy for a shared control tele-manipulation system in unknown environments","authors":"Haitham El-Hussieny, Samy F. M. Assal, A. Abouelsoud, S. M. Megahed","doi":"10.1109/ICMECH.2015.7083975","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083975","url":null,"abstract":"This paper addresses the problem of controlling a slave robot with a shared control scheme of a tele-manipulation system in unknown environments. Shared control schemes may be useful for reducing the communication delay in time-critical tele-manipulation systems. Shared control scheme consists of two key components: intention prediction and command arbitration. An intuitive and novel strategy under which the human operator intention could be extracted seamlessly from the hand point to point path during the tele-manipulation process is developed in this paper. The new strategy is based on the environment scene awareness conducted at the remote side at the beginning of the tele-manipulation task. The developed strategy is tested experimentally with a simulation of a robot model in several remote environments to verify its accuracy and effectiveness. The results confirmed significant performance improvement in terms of reduced time using the proposed shared control scheme compared to the direct tele-manipulation scheme.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"158 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":"127447847","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: 13
Position and speed control of a low-cost two-wheeled, self-balancing inverted pendulum vehicle 低成本两轮自平衡倒立摆车辆的位置和速度控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084000
Mirko Brentari, A. Zambotti, L. Zaccarian, P. Bosetti, F. Biral
{"title":"Position and speed control of a low-cost two-wheeled, self-balancing inverted pendulum vehicle","authors":"Mirko Brentari, A. Zambotti, L. Zaccarian, P. Bosetti, F. Biral","doi":"10.1109/ICMECH.2015.7084000","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084000","url":null,"abstract":"In this paper we present a low-cost prototype of a two-wheeled, self-balancing inverted pendulum realized at the mechatronics laboratory of the University of Trento. This vehicle lends itself to represent a class of control problems that arise in many educational robotic devices custom built and assembled with low-end market components. We provide a detailed description of the equipment and describe the strategies adopted to suitably address backlash of the low-cost DC motors and disturbances arising from the voltage controlled hardware. Then we propose a nested control paradigm where an inner loop provides regulation of a virtual control requested by an outer loop that uses the pitch angle to regulate the longitudinal displacement and speed. Three saturation-based control laws are proposed for the outer loop, all of them allowing the designer to adjust the maximum pitch angle. Experimental results illustrate the effectiveness of the proposed control laws and the operation of the developed prototype.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"40 1 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":"129105418","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
2 Inputs — 2 outputs hysteresis model for piezoelectric actuators 压电驱动器的2输入- 2输出迟滞模型
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083987
D. Davino
{"title":"2 Inputs — 2 outputs hysteresis model for piezoelectric actuators","authors":"D. Davino","doi":"10.1109/ICMECH.2015.7083987","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083987","url":null,"abstract":"Piezoelectrics devices are often employed in tasks, as micropositioning, vibration compensation, where an accurate modeling would improve the device performance. Modeling of macroscopic behavior is usually tackled by using 1-input 1-output operators (displacement vs electric field or voltage vs stress), while it is well known that piezos are smart materials and the 4 variables are all coupled. Therefore, a 2-inputs 2-outputs hysteresis model would provide benefit. In this paper, a recently 2-inputs 2-outputs model proposed for magnetostriction is extended to piezoelectric behavior. The model can be developed by using a modified simple play operators superposition and the concept of hysteresis potential. Comparison with experiments on a piezoelectric actuator confirms that such an approach is able to reproduce the macroscopic behavior with sufficient accuracy.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"73 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":"130869778","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
Model-based temperature and humidity control of paint booth HVAC systems 基于模型的喷漆房暖通空调系统温湿度控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083966
S. Alt, O. Sawodny
{"title":"Model-based temperature and humidity control of paint booth HVAC systems","authors":"S. Alt, O. Sawodny","doi":"10.1109/ICMECH.2015.7083966","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083966","url":null,"abstract":"The automation of industrial finishing processes in automotive industry requires accurate control of temperature and humidity of the inlet air to guarantee constant product finish quality. Industrial heating, ventilation and air conditioning (HVAC) control systems are used to maintain the required operating conditions for the finishing process even in presence of changes of the ambient air conditions. Industrial HVAC systems consist of different conditioning modules and a controlling device to control the temperature and humidity at the same time. This paper presents a model-based controller design for a series path air flow arrangement consisting of a heating coil and a spray humidifier. As a first step the governing model equations of the considered HVAC system are derived. Subsequently a disturbance feedforward controller based on the inversion of the derived model is designed. Finally simulation results are presented to validate the proposed controller.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"34 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":"131652665","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: 5
A method for improving scaling bilateral control by integration of physical and control scaling ratio 提出了一种物理结垢比与控制结垢比相结合的改善结垢双边控制的方法
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084030
Kenji Ogawa, Ryohei Kozuki, K. Ohnishi
{"title":"A method for improving scaling bilateral control by integration of physical and control scaling ratio","authors":"Kenji Ogawa, Ryohei Kozuki, K. Ohnishi","doi":"10.1109/ICMECH.2015.7084030","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084030","url":null,"abstract":"This paper proposes a novel scaling method in bilateral control. In general, scaling factor of position and force is set into the controller. In this case, force is scaled not by only reaction force from environment but external force such as friction. Therefore, it is difficult to get haptic sense from environmental reaction force. In the proposed method, scaling ratio is defined by the product of physical scaling ratio and control scaling ratio. By using this method, the influence of external force is decreased compared with the conventional scaling method. Hence, the operator can feel the environmental force. In this research, proposed method is applied to Electro-Hydraulic Transmission System (EHTS). EHTS is a kind of actuating system which is consisted of two syringes, tube and liquid. In the case of EHTS, physical scaling is defined by the ratio of diameter of both syringes. The validity of the proposed method is confirmed by experimental results.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"12 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":"125516737","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
Analysis of touching motion using singular spectrum transformation 用奇异谱变换分析触摸运动
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084021
E. Fujii, S. Katsura
{"title":"Analysis of touching motion using singular spectrum transformation","authors":"E. Fujii, S. Katsura","doi":"10.1109/ICMECH.2015.7084021","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084021","url":null,"abstract":"Recently, robots have been increasing demand for elderly care problem, dangerous work involved in life, disappearing skilled work and so on. To use robots like human, human motion information is needed to obtain. The motion information is also needed to analyze in order to use effectively information. In this paper, motion information is extracted by motion-copying system. Motion-copying system is suitable for obtained touching motion. To analyze motion information, Singular Spectrum Transformation (SST) is introduced. SST is one of the most adaptive data mining techniques to analyze time-series data. Motion information has various parameters in time-series data. This mining system has probability to use for motion segmentation and classification. According to the experiments and the analysis, touching motion can be analyzed.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"101 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":"123234639","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
Analysis and compensation of operational force in bilateral control systems under time-varying delay 时变时滞下双边控制系统运行力分析与补偿
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083961
Yoshiki Ohno, N. Yoshimura, K. Ohnishi
{"title":"Analysis and compensation of operational force in bilateral control systems under time-varying delay","authors":"Yoshiki Ohno, N. Yoshimura, K. Ohnishi","doi":"10.1109/ICMECH.2015.7083961","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083961","url":null,"abstract":"This paper proposes a method to eliminate scratchy feeling in bilateral control systems under time-varying delay. 4-channel bilateral control system is a technique which can transmit haptic sense to remote place with two robots, master and slave. However, when network is used for data transmission, time delay occurs and it degrades the stability of the systems and increases operational force. Furthermore, if the time delay is time-varying, operator feels uncomfortable scratchy sensation in addition to the operational force. Therefore, this paper proposes a method to compensate the effect of time-varying delay in 4-channel bilateral control systems. First, it is cleared that the scratchy feeling can be regarded as high frequency communicative operational force and that it can be calculated in real time quantitatively. Then, elimination method for the scratchy feeling is proposed from the view of operational force. Proposed method can compensate only the effect of delay variation without any delay time model. The validities of proposed methods are verified by some experiments.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"15 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":"121347344","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
Robust Yaw-moment Control for electric vehicles 电动汽车横摆力矩鲁棒控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084002
Jia-Sheng Hu, Yafei Wang, H. Fujimoto, Y. Hori
{"title":"Robust Yaw-moment Control for electric vehicles","authors":"Jia-Sheng Hu, Yafei Wang, H. Fujimoto, Y. Hori","doi":"10.1109/ICMECH.2015.7084002","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084002","url":null,"abstract":"Many investigations have demonstrated that the Direct Yaw-moment Control (DYC) is an effective way to enhance the reliability and safety of electric vehicles. Especially, the in-wheel motor electric vehicles, which independently equips electric motor on each propulsion wheel. This benefit endows the control system with a faster response than the internal combustion engine vehicles. In this paper, a robust DYC for rear-wheel drive in-wheel motor electric vehicles is proposed. Due to the achievement of robust control framework, the presented system can deal with model uncertainty, side wind disturbance, and parameter varying problems. The simulation results show that the presented solution not only achieves good performance on yaw-moment control, but also has good insistency against all system perturbations.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"56 12 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":"126041889","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
Modeling and control of snake-like robot to move in the tube 蛇形机器人在管道中移动的建模与控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084025
M. Shell, M. Kasahara, T. Ynagida, M. Iwase
{"title":"Modeling and control of snake-like robot to move in the tube","authors":"M. Shell, M. Kasahara, T. Ynagida, M. Iwase","doi":"10.1109/ICMECH.2015.7084025","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084025","url":null,"abstract":"The purpose of this study is to realize driving of snake-like robot in a tube. The modeling of the snake-like robot in a tube is important for design the driving control. Hence the model is described by Projection Method. The driving control is derived by State Dependent Riccati Equation based on the model. Numerical simulations present the snake-like robot can drive in a tube as its head position is converged to the origin.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"66 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":"121097772","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
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