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2006 IEEE International Conference on Mechatronics最新文献

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Skill Acquisition of Human Fingers Based on Interaction Mode Control 基于交互模式控制的人手指技能习得
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252595
S. Katsura, T. Suzuyama, K. Ohishi
{"title":"Skill Acquisition of Human Fingers Based on Interaction Mode Control","authors":"S. Katsura, T. Suzuyama, K. Ohishi","doi":"10.1109/ICMECH.2006.252595","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252595","url":null,"abstract":"Skill preservation of an expert has been a serious problem of the medical or production fields. This paper proposes a skill preservation system for motion acquisition of human fingers. The proposed skill preservation system is composed of a master-slave system, and the control system is based on bilateral motion control. Since a touching motion is subject to the \"law of action and reaction\", it is possible to decompose force information into action force and reaction force by using the bilateral control. Furthermore, human motion is acquired in decoupled modal space by using the mode quarry matrix. The decoupled modes correspond to \"moving\", \"yawing\", \"grasping\" tasks, and so on. Thus the skilled motion by a human is easily obtained in the modal space. The mode quarry matrix is also applied for temporal decomposition. As a result, modal and temporal analyses are realized by using the mode quarry matrices. The proposed skill preservation system is applied for grasping motion by three fingers. The experimental results show viability of the proposed method","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"1 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":"130221307","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
A research on reconfigurable numerical controller based on embedded system 基于嵌入式系统的可重构数控系统研究
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252522
Wenbin Wang, Tao Yu, Tan Liu
{"title":"A research on reconfigurable numerical controller based on embedded system","authors":"Wenbin Wang, Tao Yu, Tan Liu","doi":"10.1109/ICMECH.2006.252522","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252522","url":null,"abstract":"By analyzing the current development of reconfigurable numerical controllers (RNC) and architecture about numerical controllers, this paper presents a RNC architecture based on an embedded system, and analyzes the hardware and software structure of the RNC system. In the hardware structure, it discusses the multifunctional interfaces of MPC5200, and emphasizes configurable hardware functions. In the software structure, this paper first introduces the architecture of the RNC system, then the three layers of the RNC system: user layer, kernel layer and device layer, which have been designed with the character of modularity, extensibility and configurability. Furthermore, embedded Linux and RTAI also have been selected as compact, open, and real-time operating system for RNC. Finally a case is presented to illustrate how to realize the RNC in the cutting machine","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"1 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":"130731645","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
Machine Vision in an Automated Component-Handling System 自动化部件处理系统中的机器视觉
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252573
G. Jordaan, R. van Nieuwenhuizen
{"title":"Machine Vision in an Automated Component-Handling System","authors":"G. Jordaan, R. van Nieuwenhuizen","doi":"10.1109/ICMECH.2006.252573","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252573","url":null,"abstract":"This paper gives an overview of a material-handling facility incorporating machine vision - as a component of a research platform for the investigation of automated industrial processes. The aim with the research initiative is the development of relevant skills and expertise in automated material-handling installations with SCADA facilities in a pseudo-industrial environment","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"48 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":"115596034","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
Precision Position Control of PMSM Using Neural Network Disturbance Observer on Forced Nominal Plant 基于神经网络扰动观测器的强迫标称对象永磁同步电机精确位置控制
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252546
Jongsun Ko, B. Han
{"title":"Precision Position Control of PMSM Using Neural Network Disturbance Observer on Forced Nominal Plant","authors":"Jongsun Ko, B. Han","doi":"10.1109/ICMECH.2006.252546","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252546","url":null,"abstract":"This paper presents a neural network (NN) torque observer that is used to deadbeat load torque observer and regulation of the compensation gain by parameter estimator. Therefore, the response of PMSM (permanent magnet synchronous machine) follows that of the nominal plant. The load torque compensation method is composed of a neural deadbeat observer. To reduce of the noise effect, the post-filter, which is implemented by MA process, is proposed. The parameter compensator with RLSM (recursive least square method) parameter estimator is suggested to increase the performance of the load torque observer and main controller. The proposed estimator is combined with a high performance neural torque observer to resolve the problems. As a result, the proposed control system becomes a robust and precise system against the load torque and the parameter variation. A stability and usefulness, through the verified computer simulation and experiment, are shown in this paper","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"6 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":"124193165","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: 16
Automatically controlled vibration-driven robots 自动控制振动驱动机器人
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252567
N. Bolotnik, S. Jatsun, A. S. Jatsun, A. Cherepanov
{"title":"Automatically controlled vibration-driven robots","authors":"N. Bolotnik, S. Jatsun, A. S. Jatsun, A. Cherepanov","doi":"10.1109/ICMECH.2006.252567","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252567","url":null,"abstract":"Mobile robots are widely utilized for various operations in environments inaccessible to a human or dangerous for him. They are utilized, for example, for inspection and repair work in nuclear power and chemical plants, operations in areas of wreckage after earthquakes or blasts, or dismantling explosive devices (S. Aoshima et al., 1993). Most of these robots move by means of wheels or caterpillars, some of them utilize walking mechanisms. Such robots, however, cannot enter narrow slots (for example, during rescue operations in a zone of wreckage) or move in dense media other than gases or liquids. This justifies looking for new concepts of motion to enable robots to move efficiently in environments inaccessible to robots with wheel, caterpillar, and walking propelling systems. This issue is especially topical for medical robots designed for the motion through rather narrow channels (e.g., in blood vessels or the intestines) or among muscles to reach an affected organ to perform a diagnostic or surgical operation","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"81 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":"117105130","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
Disturbance Rejection of Left-Invertible Neutral Time-Delay Systems 左可逆中立型时滞系统的扰动抑制
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252500
P. Paraskevopoulos, F. Koumboulis, G. E. Panagiotakis
{"title":"Disturbance Rejection of Left-Invertible Neutral Time-Delay Systems","authors":"P. Paraskevopoulos, F. Koumboulis, G. E. Panagiotakis","doi":"10.1109/ICMECH.2006.252500","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252500","url":null,"abstract":"The problem of disturbance rejection (DR) for general left-invertible neutral multi-delay systems, via proportional realizable state feedback, is extensively solved. The necessary and sufficient conditions for the problem to have a realizable solution are established. The general analytical expression of the proportional realizable controller matrix is derived. The conditions and the general expression of the controller are computed using a finite number of explicit algebraic manipulations","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"1 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":"123592588","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: 15
Diagnosis of active dynamic control systems using virtual sensors and observers 基于虚拟传感器和观测器的主动动态控制系统诊断
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252507
K. Kashi, D. Nissing, D. Kesselgruber, D. Soffker
{"title":"Diagnosis of active dynamic control systems using virtual sensors and observers","authors":"K. Kashi, D. Nissing, D. Kesselgruber, D. Soffker","doi":"10.1109/ICMECH.2006.252507","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252507","url":null,"abstract":"During the last decade modern advanced mechatronical systems consisting of sensors, processor units, electronics, and actuators have been introduced to passenger cars. The applications ranging from adaptive cruise control, steering assist, stability control and active suspension systems offer great benefits for the handling, comfort, and safety of the vehicles. At the same time any malfunction of these systems could compromise the safety of the driver and the passengers. Due to this fact the operation of the system should be monitored and faults occurring to the system shall be detected and isolated as fast as possible. In order to avoid additional sensors, hence increasing cost and decreasing reliability, model-based approaches have been gaining more and more grounds in this field. In this contribution a model-based fault detection applied on a vehicle control system is presented which rely on mathematical descriptions of the system and which yields a robust fault detection and isolation of faults affecting the system","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"3 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":"116847392","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
Mechatronics at Third Level Education : Practical Design Considerations 三级教育中的机电一体化:实用设计考虑
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252557
M. Saleh
{"title":"Mechatronics at Third Level Education : Practical Design Considerations","authors":"M. Saleh","doi":"10.1109/ICMECH.2006.252557","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252557","url":null,"abstract":"In the last decades, the success and the popularity of mechatronic products in the global market may have been the catalyst to develop new mechatronic courses at third level education. This has led to a new way of engineering thinking and new methodology of engineering education. As with any new initiative, mechatronic education at third level has been subjected to ongoing debates and development as to challenge the engineering global needs. This paper reviews a practical method for implementing a mechatronic course at third level. It takes into account the design philosophy and modeling strategy of mechatronic products for student projects. This could be a valuable insight into mechatronic engineering teaching and learning process that may satisfy industrial needs and market expectations for skills and technology","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"25 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":"124427636","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
Modified Distance Based Operators in Fuzzy Approximate Reasoning 模糊近似推理中的改进距离算子
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252542
M. Takács
{"title":"Modified Distance Based Operators in Fuzzy Approximate Reasoning","authors":"M. Takács","doi":"10.1109/ICMECH.2006.252542","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252542","url":null,"abstract":"A fuzzy logic controller is explained which is based on distance based operators, modified in their unit element, parameter e. This system is adaptive in the sense, that parameter can be changed and adapted at the beginning of the simulation cycle. The investigated system is modelled by a first order problem, where the modification of the boundary conditions, based on the parameter choice for distance based operator group leads to make wider family of applicable operators in FLC systems. Apart from investigating the system depending on this parameter, the numbers of the needed steps in the simulation system were monitored","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"109 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":"125954643","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
Definition of the HOSVD based canonical form of polytopic dynamic models 基于HOSVD的多面体动态模型规范形式的定义
2006 IEEE International Conference on Mechatronics Pub Date : 2006-07-03 DOI: 10.1109/ICMECH.2006.252604
P. Baranyi, L. Szeidl, P. Várlaki, Y. Yam
{"title":"Definition of the HOSVD based canonical form of polytopic dynamic models","authors":"P. Baranyi, L. Szeidl, P. Várlaki, Y. Yam","doi":"10.1109/ICMECH.2006.252604","DOIUrl":"https://doi.org/10.1109/ICMECH.2006.252604","url":null,"abstract":"The main objective of the paper is to introduce how the concept of tensor HOSVD can be carried over to the TP (tensor product) dynamic models, namely, how we can define and generate the \"HOSVD like\" decomposition of linear parameter varying (LPV) dynamic models. We term this decomposition as HOSVD based canonical form of TP model or polytopic model form. The key idea and the basic concept of this decomposition was proposed with the TP model transformation based control design methodology. The novelty of this paper is to present the mathematical background of this concept. The paper shows convergency theorems how the TP model transformation is capable of reconstructing this HOSVD based canonical form numerically. The proofs of the theorems are lengthy, therefore they are omitted. The paper also presents numerical examples to show the applicability, efficiency and uniformity of the numerical reconstruction","PeriodicalId":187202,"journal":{"name":"2006 IEEE International Conference on Mechatronics","volume":"39 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":"128341201","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: 64
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