2006 IEEE International Conference on Mechatronics最新文献

High Elastic Bionic Based Robot and Gripper 高弹性仿生机器人及抓取器

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252531

J. Keskeny, A. Huba, I. Muka

引用次数: 1

A New Architecture to Execute CAs-Based Path-Planning Algorithm in Mobile Robots 一种基于cas的移动机器人路径规划算法的新架构

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252574

A. Akbarimajd, C. Lucas

引用次数: 9

A granular-based method for position and reliability estimation in alarm systems 报警系统中基于粒度的位置和可靠性估计方法

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252562

B. Cornel

引用次数: 0

Development of a Network-based Real-Time Robot Control System over IEEE 1394: Using Open Source Software Platform 基于IEEE 1394的基于网络的机器人实时控制系统的开发:利用开源软件平台

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252588

M. Sarker, Chang Hwan Kim, Jeong-San Cho, Bum-Jae You

{"title":"Development of a Network-based Real-Time Robot Control System over IEEE 1394: Using Open Source Software Platform","authors":"M. Sarker, Chang Hwan Kim, Jeong-San Cho, Bum-Jae You","doi":"10.1109/ICMECH.2006.252588","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252588","url":null,"abstract":"Network-based distributed processing and hard real-time requirement significantly increase the complexity of a robot hardware and software system. This paper describes the open and modular approach to design and implement a real-time robot control system using open source software (OSS) which include a Linux-based real-time operating system (RTOS), Xenomai (formerly known as the fusion branch of real time application interface, RTAI/fusion), real-time IEEE 1394 device driver and other middleware components. The real-time performance of our system has been evaluated in a mobile robot control platform and we have compared the performance of our system with that of a commercial RTOS, RTLinux Pro, based system using the same set of hardware. From the comparison it is seen that our system is also capable of satisfying the similar hard-real time requirements with a greater flexibility in overall implementation. In this work, the high performance IEEE 1394 serial bus is used as the field-bus of our robot control system. Though IEEE 1394 (also known as FireWire) is widely used in consumer electronics or home video network we have successfully adopted this emerging technology in robot control and as a side effect of our research, we have seen that IEEE 1394 can be used as a better alternative to the old generation slower filed-bus like CAN bus","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114576204","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: 28

Some problems and problematic solutions of secure hot-plug 安全热插拔的一些问题及解决方法

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252561

N. Károly, L. Istvan

{"title":"Some problems and problematic solutions of secure hot-plug","authors":"N. Károly, L. Istvan","doi":"10.1109/ICMECH.2006.252561","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252561","url":null,"abstract":"Communication layers underlying modern distributed systems have different advantages and disadvantages that are consequences of the different properties of the communication layer. One such property is \"hot-plug\" capability (the ability to dynamically and automatically reconfigure the system) of the communication layer and another one is security (in this context, authentication and encryption). The problem is that there is a hidden contradiction between the hot-plug capability and security, which leads us to the need of secure, hot-plug capable communication layers. This is crucial in wireless communication layers where security and hot-plug capabilities may be mandatory for the distributed system to succeed, even if the system is not as life-critical as an in-car wireless sensor network. In life-critical systems, such as systems analyzed by the authors, this contradiction is significant enough to risk the existence of the system. This article presents the underlying contradiction of logics for secure hot-plug and analyzes some of the currently available solutions to reduce risks while pointing out similarities and differences between the theoretical secure hot-plug wireless systems and the practically semi-secure semi-hot-plug Internet. The problems of the traditional approaches in life-critical wireless sensor systems such as medical sensor networks and in-vehicle wireless networks are presented and risk-reducing methods are shown","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126877713","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

A Simulation Environment for Field Relevant Rollover Accidents 现场相关侧翻事故的仿真环境

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252509

K. Hirsch, D. Schramm

引用次数: 0

Human-Oriented Design of Autonomous Navigation Assisted Robotic Wheelchair for Indoor Environments 室内环境下自主导航辅助机器人轮椅的人性化设计

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252530

C. Kuo, H.H.W. Chen

{"title":"Human-Oriented Design of Autonomous Navigation Assisted Robotic Wheelchair for Indoor Environments","authors":"C. Kuo, H.H.W. Chen","doi":"10.1109/ICMECH.2006.252530","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252530","url":null,"abstract":"Wheelchair is one of the most important mobility aids for the disabled people and elders. In this paper, we propose the human-oriented robotic wheelchair design and implementation based on the considerations of convenient driving in narrow space with non-straight paths, active collision avoidance, autonomous navigation, real-time user joystick command justification, intelligent fusion of user joystick command and autonomous navigation systems, and remote monitoring and control. Therefore, this work emphasizes the human-centered manipulations instead of fully autonomous operations of the wheelchair. The developed software components are desired to further detect and avoid mistakes from wrong manipulations of users. In addition, the controllability and comfortability of the wheelchair can be also improved. Especially, the omni-wheeled mechanical platform significantly increases the driving mobility when the robotic wheelchair moves in narrow spaces of indoor environments. Finally, the mechanical platform, closed-loop motion controller, power drives and intelligent software components are all developed in laboratory. The robotic wheelchair was successfully tested. The experimental results validated the proposed robotic wheelchair, and they were discussed in this paper","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114806001","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: 23

On-Board Payload Identification for Commercial Vehicles 商用车辆的机载有效载荷识别

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252512

W. Kober, W. Hirschberg

{"title":"On-Board Payload Identification for Commercial Vehicles","authors":"W. Kober, W. Hirschberg","doi":"10.1109/ICMECH.2006.252512","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252512","url":null,"abstract":"Roll over accidents of vehicles belong to the most dangerous vehicle accident scenarios on our roads. In particular, heavy commercial vehicles allow enormous changes of loads and often the drivers are confronted with unknown load conditions, e.g. container freight. This causes a persistent overturning hazard. Due to the varying load situations, the drivers of commercial trucks are therefore requested to permanently adapt their driving style in relation to the actual driving and roll dynamics of their vehicles, in order to provide sufficient driving safety. This paper therefore deals with methods to identify the payload parameters of air-sprung vehicles on different levels. Special attention is spent to examine the described onboard-identification methods for application to truck-semitrailer combinations. The online-identified relevant payload parameters are the load mass, the position of its centre of gravity and especially the height of its centre of gravity above ground. The aim of this paper is on the one hand to develop an identification approach to be able to provide more driver information about the actual overturning limit of the vehicle and on the other hand to deliver additional information about the current loading conditions of the vehicle as an input to any advanced driver assistance system or to enhanced vehicle-dynamics controllers, which take the payload height into consideration","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"265 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114838251","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

System Configuration of Tri-pole Magnetic Bearings 三极磁轴承的系统配置

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252506

Ping-Ho Chen

引用次数: 1

Development of Mechatronic Systems at the Institute for Mechatronics at the University of Miskolc 米什科尔茨大学机电一体化研究所机电一体化系统的发展

2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252548

G. Takács, G. Patkó, G. Hegedűs, T. Csáki, A. Szilágyi

引用次数: 3