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

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Generation method of admissible sets for mode switching control using final-state control with thrust limitation 带推力限制的末态切换控制允许集的生成方法
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083979
Yuma Yazaki, H. Fujimoto
{"title":"Generation method of admissible sets for mode switching control using final-state control with thrust limitation","authors":"Yuma Yazaki, H. Fujimoto","doi":"10.1109/ICMECH.2015.7083979","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083979","url":null,"abstract":"Mode Switching Control (MSC) is a control method which switches from one control mode to another according to switching conditions. MSC has been widely used in robots and hard disk drives. Considering thrust limitations, however, the switching condition is generally conservative since there are not any clear criteria to switch the control modes. Therefore, this paper proposes a new index of switching condition which uses initial state variables in Final-State Control (FSC) with thrust limitations. The novelty of the index is that feedforward inputs which take an initial state to a final state in finite time can be generated automatically, while taking into account thrust limitations. The effectiveness of the proposed index is shown by simulations.","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":"133709904","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
Passivity-based model free control of an omnidirectional mobile robot 基于被动的全向移动机器人无模型控制
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083985
Chao Ren, Shugen Ma
{"title":"Passivity-based model free control of an omnidirectional mobile robot","authors":"Chao Ren, Shugen Ma","doi":"10.1109/ICMECH.2015.7083985","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083985","url":null,"abstract":"This paper presents a passivity-based trajectory tracking controller for an omnidirectional mobile robot, based on a modified generalized proportional integral observer. In contrast to traditional feedback linearization methods, the design objective of our approach is to design a controller such that the passivity property of the robot is preserved in the closed-loop system. The resulting control system could be very attractive from a practical point of view, since the inertia matrix and coriolis matrix of the robot dynamic model are not required. The robot geometrical information is the only required model information, which can be easily obtained in practical applications. Moreover, only position measurements are used. In addition, the closed-loop stability property is analyzed. Comparisons with traditional PID control have been conducted through simulations to show the effectiveness of the proposed control approach.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"140 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":"127478533","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
An approach to modeling and evaluation methods of human locomotion using IMU sensors 基于IMU传感器的人体运动建模与评价方法研究
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084006
Naohisa Kagami, T. Murakami
{"title":"An approach to modeling and evaluation methods of human locomotion using IMU sensors","authors":"Naohisa Kagami, T. Murakami","doi":"10.1109/ICMECH.2015.7084006","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084006","url":null,"abstract":"In an aging society, independent lives for elderly person is becoming more and more important. The ability of ADLs is a measurement of the functional status of a person, particularly in regard to people with disabilities and the elderly. This is important to keep their basic qualities of life and our society has to prolong the period performing ADLs. However a suitable evaluation method of daily motions has not been established yet. This research focuses on the human locomotion like walking and running. The objective of this research is to propose a quantitative evaluation method and a model of human locomotion and analyze these motions. IMU sensors which can measure triaxial (3-D) accelerations and triaxial angular velocities are used to measure the human motion. A simulation is conducted to confirm the validity of the human model. Finally, based on the mechanical energy consumption and the stability, human locomotion is analyzed.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"7 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":"127820333","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
Design of a feedforward control system considering dead time for optical disc systems 考虑死区时间的光盘系统前馈控制系统设计
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084053
Keisuke Yoshida, T. Ohashi, K. Ohishi, T. Miyazaki
{"title":"Design of a feedforward control system considering dead time for optical disc systems","authors":"Keisuke Yoshida, T. Ohashi, K. Ohishi, T. Miyazaki","doi":"10.1109/ICMECH.2015.7084053","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084053","url":null,"abstract":"Recently, the data size of digital content has increased. In order to cope, manufacturers have tried to increase capacity by narrowing the track pitch of digital storage media. In addition, recent advancements in technology have resulted in a new optical disc that has a rotation speed of over 15,000 rpm. Considering all these factors, a high-precision pick-up control system is needed for optical discs. In this study, a feedforward control system using an error prediction mechanism to effectively suppress periodic components is implemented. However, the feedforward control system of a conventional pick-up control system does not consider the dead time delay component. This paper proposes a zero phase error tracking feedforward control system that does consider it. The propose control system is designed and implemented for a test system, the ODU-1000 for Blu-ray Disc, implanted in a digital signal processor (DSP). The results of experiments confirm that the propose system is practical and effective.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"14 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":"115364143","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
Basic study of transmitting power control method without signal communication for Wireless In-Wheel Motor via magnetic resonance coupling 基于磁共振耦合的无线轮毂电机无信号传输功率控制方法的基础研究
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083995
D. Gunji, T. Imura, H. Fujimoto
{"title":"Basic study of transmitting power control method without signal communication for Wireless In-Wheel Motor via magnetic resonance coupling","authors":"D. Gunji, T. Imura, H. Fujimoto","doi":"10.1109/ICMECH.2015.7083995","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083995","url":null,"abstract":"In order to improve reliability and safety of an In-Wheel Motor, the Wireless In-Wheel Motor (W-IWM) using magnetic resonance coupling has been proposed. Transmitting power of the W-IWM is controlled by the primary inverter and the secondary converter. One of a technical issue of the W-IWM is transmitting power variation due to the load power variation and the coupling coefficient variation. In this paper, we propose feedback control method of the transmitting power on the primary side using primary voltage margin. The primary voltage margin can be measured by the primary current. The proposed method requires no signal communication between the primary side and the secondary side. The effectiveness of the proposed method is verified by simulation and experiment.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"29 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":"116729850","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: 25
Integrated servo-mechanical design using Nyquist plots for chance-constrained robust mechatronics 基于Nyquist图的机会约束鲁棒机电一体化集成伺服机械设计
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084048
Yan Zhi Tan, C. Pang, Tong-heng Lee
{"title":"Integrated servo-mechanical design using Nyquist plots for chance-constrained robust mechatronics","authors":"Yan Zhi Tan, C. Pang, Tong-heng Lee","doi":"10.1109/ICMECH.2015.7084048","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084048","url":null,"abstract":"Integrated servo-mechanical design is commonly solved using numerical methods. In this paper, allowable regions for the redesigned open loop Nyquist plot are derived based on performance and chance-constrained robust stability specifications, considering high-frequency reshaping of the mechanical plant based on a low-order controller. Our simulation results on the Pb-Zr-Ti active suspension in a commercial 3.5\" dual-stage hard disk drive achieve a single-stage feedback control system with guaranteed disturbance attenuation capabilities and robust stability.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"6 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":"114838070","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
LMI-based position command design of table systems considering compensation for impact force and interference 考虑冲击力和干扰补偿的基于lmi的工作台系统位置指令设计
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084049
Nao Sugiura, Kazuaki Ito, M. Iwasaki
{"title":"LMI-based position command design of table systems considering compensation for impact force and interference","authors":"Nao Sugiura, Kazuaki Ito, M. Iwasaki","doi":"10.1109/ICMECH.2015.7084049","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084049","url":null,"abstract":"This paper presents a position command design methodology for table drive systems utilizing for a contact operation. In high performance mechatronic systems utilizing for contact operations such as picking up and/or placing on materials, force control is strongly requested to prevent a damage of materials due to impact force. Moreover interference force from other axis deteriorates position control performance. In this paper, the stability condition of the impact force and interference force are clarified, and the linear matrix inequality (LMI) design framework is applied to improve the control performance, where the position command of the system is theoretically designed under the constraints against the impact force and interference. The effectiveness of the proposed design has been verified by experiments using a prototype.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"2 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":"128650444","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
Stability analysis of a non-linear adaptive impedance controller for rehabilitation purposes 用于康复的非线性自适应阻抗控制器的稳定性分析
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084019
R. Oboe, Davide Pilastro
{"title":"Stability analysis of a non-linear adaptive impedance controller for rehabilitation purposes","authors":"R. Oboe, Davide Pilastro","doi":"10.1109/ICMECH.2015.7084019","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084019","url":null,"abstract":"Rehabilitation robotics is a field of research in continuous growth and evolution. Its main purpose is to develop suitable robotics devices and control strategies to assist patient's movements during trainings. To do that, advanced control algorithms and implementation of suitable force feedback for these robotic devices have been developed for rehabilitation purposes. In particular, some of these systems are designed to assist patients in completing the desired movements, providing the minimum force necessary. Thus, a direct human-robot interaction is unavoidable. For this reason, in such cases, control stability issues and safety of the system become crucial. A non-linear adaptive impedance controller, based on position errors, which aims to achieve a desired “assist-as-needed” behaviour during the rehabilitation process, has been developed in a previous work and described in [1]. However, a no straightforward stability proof of the overall system can be obtain, due to non-linear and time-varying nature of such controller. This paper is focused on the formal stability analysis of such adaptive assistance controller. Such analysis has been carried out based on an energetic approach, taking advantages of the Lyapunov theory.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"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":"130718031","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
Online identification of piezoelectric hysteresis by direct recursive algorithm of Preisach model 基于Preisach模型直接递归算法的压电滞回在线辨识
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083991
M. Ruderman, D. Rachinskii
{"title":"Online identification of piezoelectric hysteresis by direct recursive algorithm of Preisach model","authors":"M. Ruderman, D. Rachinskii","doi":"10.1109/ICMECH.2015.7083991","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083991","url":null,"abstract":"A direct recursive identification method for determining online the Preisach hysteresis density function has been recently proposed in [1]; its convergence was rigorously proved in [2]. One of the possible application areas relates to the identification of large-scale hysteresis effects in smartmaterial systems. This paper discusses an application of the direct recursive identification method to the input-output voltage-to-displacement measurements of piezoelectric hysteresis in a standard piezo-actuated stage. We excite the piezoelectric actuator in an open-loop manner through an appropriate notch-filter, designed beforehand, so as to suppress two dominant harmonics of mechanical domain and obtain the hysteresis response without dynamical by-effects. The applied input sequence is a simple (memoryless) Bernoulli process which is easy to generate in practice. This input does not impose any special requirements on the experimental design and control/accuracy of the input signal. The experimental evaluation is provided along with a discussion of an envisaged application.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"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":"131012573","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
Experimental verification of engine vibration suppression control using hybrid electric vehicle simulator 基于混合动力汽车模拟器的发动机减振控制实验验证
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084024
Tomoki Yamazaki, T. Fujita, M. Iwase
{"title":"Experimental verification of engine vibration suppression control using hybrid electric vehicle simulator","authors":"Tomoki Yamazaki, T. Fujita, M. Iwase","doi":"10.1109/ICMECH.2015.7084024","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084024","url":null,"abstract":"This study aims, for hybrid electric vehicle, to reduce the torque ripple caused by fuel combustion in the combustion engine and reaction torque from road surface. The assist motor in HEV is driven to suppress the torque ripple under the torque ripple suppression control proposed by Fujita. However, effectiveness of this proposed method is not inspected using the actual equipment. This paper, effectiveness of this proposed method is inspected by using HEV simulator. As a result, the torque ripple is reduced by 33%.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"24 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":"121459536","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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