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

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Measurement of complex quantity of monitoring area and detection of high active part of invading object in complex background for surveillance camera system 监控摄像机系统复杂背景下监控区域复杂量的测量和入侵目标高活跃部分的检测
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084031
M. Takai
{"title":"Measurement of complex quantity of monitoring area and detection of high active part of invading object in complex background for surveillance camera system","authors":"M. Takai","doi":"10.1109/ICMECH.2015.7084031","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084031","url":null,"abstract":"Surveillance camera system is one of security system. And, general surveillance camera system consists of surveillance camera installed in the monitoring area, and video monitor in the administrative room, and connects each device with communication line. An observer can always watch the monitoring area in the distant place by the networking of the surveillance camera system. Therefore, the observer needs to always watch large amount of image data surveillance camera photographed. It is necessary for it to spend much time and labor that an observer confirms only by naked eyes. This study measures how complex an image is with numerical value from 0.0 to 1.0 using Complex Quantity. The proposal method detects complex background from the image which surveillance camera photographed, and shows enlarges complex background so that an observer can find suspicious individual or unidentified object hiding in complex background easily. And, we measure livingness of the movement of object invading the complex background with Active Quantity so that an observer is able to watch the movement of the subject in monitoring area efficiently. Active Quantity measures how active the movement of the object is with numerical value from 0.0 to 1.0 quantity. And, the proposal surveillance camera system detects high active part consisting of high Active Quantity from the movement of the object in complex background. The observer is possible to watch the quick movement of objects hiding in the complex background in the monitoring area using the proposal surveillance camera system.","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":"115027424","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
Robustness versus performance in PDO FPI Control of the IPDT plant IPDT装置PDO FPI控制的鲁棒性与性能
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083954
M. Huba
{"title":"Robustness versus performance in PDO FPI Control of the IPDT plant","authors":"M. Huba","doi":"10.1109/ICMECH.2015.7083954","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083954","url":null,"abstract":"This paper deals with robustness evaluation of the predictive disturbance observer based filtered PI (PDO FPI) control. Robust performance of loops with integral plants, different order filters and with an uncertain dead time is examined by the performance portrait method. The analysis does not confirm the up to now accepted view that the best robustness corresponds to the 1st order filters. Features of robust performance measures in the time domain are discussed.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"146 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":"123383203","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
Nonlinear reduced order observer design for elastic drive systems using invariant manifolds 基于不变流形的弹性驱动系统非线性降阶观测器设计
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083948
I. Khan, R. Dhaouadi
{"title":"Nonlinear reduced order observer design for elastic drive systems using invariant manifolds","authors":"I. Khan, R. Dhaouadi","doi":"10.1109/ICMECH.2015.7083948","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083948","url":null,"abstract":"This paper presents the design of a nonlinear reduced order observer to estimate the load position and speed of an elastic drive system. The reduced order observer is designed using the notion of invariant manifold. First, a manifold is defined in terms of the error dynamics. Then, the mapping functions are selected in such a way that the error dynamics become asymptotically stable at the equilibrium point. Simulation and experimental results are shown to validate the proposed methodology for a two mass model system.","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":"114203291","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
Disturbance suppression method for position-sensorless motion control of DC brushed motor 无位置传感器直流有刷电机运动控制的扰动抑制方法
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083973
Yoshiyuki Kambara, Seiji Uozumi, K. Ohnishi
{"title":"Disturbance suppression method for position-sensorless motion control of DC brushed motor","authors":"Yoshiyuki Kambara, Seiji Uozumi, K. Ohnishi","doi":"10.1109/ICMECH.2015.7083973","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083973","url":null,"abstract":"This paper proposes position-sensorless disturbance observer (PSDOB) for DC brushed motor (abbreviated as DC motor later). The aim of this method is to suppress disturbance for position-sensorless motion control of DC motor. At first, block diagram of motor system is transformed and disturbance torque is defined as modeling errors between real motor model and nominal model. Next, disturbance torque is estimated from current reference, voltage reference, and measured current. Finally, estimated disturbance torque is fed back to suppress the disturbance torque. Therefore, robust acceleration control can be realized by utilizing PSDOB. The utility of the proposed method is experimentally verified.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"98 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":"114837507","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
Comparison of Model-free and Model-based Control Techniques for a Positioning Actuator based on Magnetic Shape Memory Alloys 基于磁形状记忆合金的定位驱动器无模型与基于模型控制技术的比较
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083989
G. Binetti, Giuseppe Leonetti, D. Naso, B. Turchiano
{"title":"Comparison of Model-free and Model-based Control Techniques for a Positioning Actuator based on Magnetic Shape Memory Alloys","authors":"G. Binetti, Giuseppe Leonetti, D. Naso, B. Turchiano","doi":"10.1109/ICMECH.2015.7083989","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083989","url":null,"abstract":"This paper addresses the control issue of a precise positioning system based on Magnetic Shape Memory Alloys (MSMAs). This family of smart materials exhibits a hysteresis phenomenon that needs to be properly addressed in order to build effective devices. A model-free control scheme is compared with two different model-based approaches which exploit an accurate hysteresis model to perform hysteresis cancellation or feedforward compensation. All the control schemes are based on a PID controller which is automatically tuned by solving a set of Linear Matrix Inequalities (LMIs) able to guarantee a desired exponential rate for the error convergence to zero. Finally, the comparison of model-free and model-based control schemes is performed using an experimental set-up to emphasize both the advantages and disadvantages of the different control strategies.","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":"114179796","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
Damping injection using position-based contact detection for bilateral control system under time delay 基于位置接触检测的时滞双边控制系统阻尼注入
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084039
S. Shimizu, Yoshiki Ohno, K. Ohnishi
{"title":"Damping injection using position-based contact detection for bilateral control system under time delay","authors":"S. Shimizu, Yoshiki Ohno, K. Ohnishi","doi":"10.1109/ICMECH.2015.7084039","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084039","url":null,"abstract":"In bilateral control system under time delay, contact motion becomes unstable. Damping injection is the method to stabilize contact motion. However, large operational force is induced by damping injection and operationality is deteriorated. To solve this deteriorating, this paper proposes damping injection without deteriorating operationality. In proposed method, free motion and contact motion are identified by using position-based contact detection. Therefore, damping injection can work only at the time of contact motion and large operational force does not occur. The effectiveness of the proposed method is confirmed by some 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":"127244593","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
Use of MEMS accelerometers for load position estimation of ball-screw driven table systems 利用MEMS加速度计估算滚珠丝杠驱动工作台系统的负载位置
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7084057
Koji Watanabe, Kazuaki Ito, K. Inuzuka, R. Antonello, R. Oboe
{"title":"Use of MEMS accelerometers for load position estimation of ball-screw driven table systems","authors":"Koji Watanabe, Kazuaki Ito, K. Inuzuka, R. Antonello, R. Oboe","doi":"10.1109/ICMECH.2015.7084057","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7084057","url":null,"abstract":"This paper presents a load position estimation methodology of a ball-screw driven system using a MEMS accelerometer. It is well-known that the load side position information is important to improve positioning performance of the load. However, it is difficult to place position sensors on the load side from the viewpoint of cost saving and available space. In this research, the load acceleration measured by a low cost and small size MEMS accelerometer and the motor angle acquired by a rotary encoder are applied to the Kalman estimator to estimate the position information at the load side. The effectiveness of the proposed estimation system has been verified by experiment using a ball-screw driven system.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"13 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":"127345204","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
Electric vehicles with individually controlled on-board motors: Revisiting the ABS design 带有单独控制的车载电机的电动汽车:重新审视ABS设计
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083996
V. Ivanov, D. Savitski, K. Augsburg, P. Barber
{"title":"Electric vehicles with individually controlled on-board motors: Revisiting the ABS design","authors":"V. Ivanov, D. Savitski, K. Augsburg, P. Barber","doi":"10.1109/ICMECH.2015.7083996","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083996","url":null,"abstract":"The paper introduces the anti-lock braking system (ABS) designed for the all-wheel drive full electric vehicle equipped with four on-board motors. The main features of the ABS under consideration are (i) continuous wheel slip control with feedforward and feedback controller parts, and (ii) versatile actuation architecture realizing pure electric braking, braking with electro-hydraulic decoupled brake systems, and blended braking with operation both of friction brakes and electric motors in regenerative mode. Results of ABS validation demonstrate essential benefits of the developed control strategy for brake performance, precise wheel slip tracking, and drive comfort at braking. Adaptive properties of the proposed ABS are discussed for test cases including the transient road friction.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"123 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":"122736016","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
Optimized trajectory planning for mobile robot in the presence of moving obstacles 移动机器人存在移动障碍物时的优化轨迹规划
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083950
C. Ko, K. Young, Yi-Hung Hsieh
{"title":"Optimized trajectory planning for mobile robot in the presence of moving obstacles","authors":"C. Ko, K. Young, Yi-Hung Hsieh","doi":"10.1109/ICMECH.2015.7083950","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083950","url":null,"abstract":"Navigation and obstacle avoidance are essential for mobile robots. In the dynamic environment, the obstacles may move with varying velocities. It is thus crucial to develop an effective scheme for moving obstacle avoidance. Motivated by this, in this paper, we propose such a scheme based on parametric trajectory planning. With the conditions for collision avoidance formulated as the constraints, a feasible collision-free trajectory is then derived by solving an unconstrained optimization problem. The corresponding control torques for robot governing is calculated using the dynamic model and derived trajectory, with the information about the obstacle not known a priori. Simulations are performed to demonstrate the efficiency of the proposed approach.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"5 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":"127807691","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
Automatic loop shaping: Optimization-based controller tuning for motion systems 自动回路整形:运动系统的基于优化的控制器调谐
2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-03-06 DOI: 10.1109/ICMECH.2015.7083944
Benjamin Henke, Michael Ringkowski, O. Sawodny
{"title":"Automatic loop shaping: Optimization-based controller tuning for motion systems","authors":"Benjamin Henke, Michael Ringkowski, O. Sawodny","doi":"10.1109/ICMECH.2015.7083944","DOIUrl":"https://doi.org/10.1109/ICMECH.2015.7083944","url":null,"abstract":"In industrial automation, a huge number of motion systems are in use. Unfortunately, the manual tuning of controllers for these motion systems is a time consuming process. Assuming a basic system model is available, the manual tuning can be replaced by an automated tuning process. Based on the system model, performance requirements are formulated in frequency and time domain and are combined into a single objective function. The resulting optimization problem is solved using nonlinear optimization. The automated tuning process is applied to the velocity control loop of a ball screw drive and shows excellent results for several different configurations of the drive.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"57 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":"127710574","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
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