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2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)最新文献

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Rotor Position Estimation of Sensorless PMSM Based on Extented Kalman Filter 基于扩展卡尔曼滤波的无传感器永磁同步电机转子位置估计
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-18 DOI: 10.1109/ICMRA.2018.8490558
Gao Tian, Yang Yan, Wang Jun, Zhou Ru, Z. Peng
{"title":"Rotor Position Estimation of Sensorless PMSM Based on Extented Kalman Filter","authors":"Gao Tian, Yang Yan, Wang Jun, Zhou Ru, Z. Peng","doi":"10.1109/ICMRA.2018.8490558","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490558","url":null,"abstract":"Taking permanent magnet synchronous motor as the research object, a rotor position estimation algorithm based on extended Kalman filter algorithm is proposed. According to this algorithm, the PMSM control system can estimate the position and speed of the rotor on line by measuring the phase current of the motor winding to realize the space vector control of the sensorless permanent magnet synchronous motor. The simulation model of permanent magnet synchronous motor is established, and the feasibility of the algorithm is verified. Finally, the algorithm is implemented on the experimental platform of the motor control system. The experimental results show that the algorithm proposed in this paper can estimate rotor position and speed in real time and high accuracy. This algorithm is used for space vector control with wide speed range and stable operation of motor control system.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"228 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122426936","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: 21
System Design of GEO-LEO Bistaic SAR with High Resolution and Wide Swath 高分辨率宽幅GEO-LEO双基准SAR系统设计
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-18 DOI: 10.1109/ICMRA.2018.8490564
Lv Zheng, Liu Shuhao, Wang Yuekun
{"title":"System Design of GEO-LEO Bistaic SAR with High Resolution and Wide Swath","authors":"Lv Zheng, Liu Shuhao, Wang Yuekun","doi":"10.1109/ICMRA.2018.8490564","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490564","url":null,"abstract":"Bistatic synthetic aperture radar(SAR) consists of a GEO transmitter and a low-earth-orbit (LEO) receiver is capable of providing higher signal-to-noise ratio (SNR) and finer spatial resolution with less power consumption. Due to the complex geometry and huge big differences of the orbital characteristics, the system design of GEO-LEO BiSAR remains a challenge. In this paper, a novel system design method of azimuth multichannel GEO-LEO BiSAR is proposed. Firstly., the radar ambiguity is analyzed and the radar beam position is well designed for the high-resolution and wide-swath (HRWS) application. The channel joint digital beamforming technology is presented to solve the problem of determining the suitable pulse repetition frequency (PRF). Then., the key parameters., such as the signal bandwidth., the number of azimuth channels and the noise-equivalent sigma zero (NESZ)., are designed. Finally., simulation results verify that the performance of GEO-LEO BiSAR meets the requirement of HRWS application.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126866070","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: 7
A Multi-Model MLLE-PCA Method for Unstable Industrial Process Monitoring 不稳定工业过程监测的多模型MLLE-PCA方法
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-18 DOI: 10.1109/ICMRA.2018.8490573
Tian Fang, Dongmei Fu
{"title":"A Multi-Model MLLE-PCA Method for Unstable Industrial Process Monitoring","authors":"Tian Fang, Dongmei Fu","doi":"10.1109/ICMRA.2018.8490573","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490573","url":null,"abstract":"It is quite a challenge to monitor and diagnose an unstable industrial process, because the changes of the industrial process bring the local structure changes of process data. Traditional process monitoring methods train and model the process as a whole. Such a model shows the overall structure of the process data, but ignore the local characteristics. In order to construct the local characteristics of the unstable process, Modified Locally Linear Embedding (MLLE) is introduced into the PCA process monitoring to reveal the local data structures. At the same time, to solve the error mapping problem of anomaly points, this paper introduces a multi-model framework and constructs a new Multi-Model MLLE-PCA method for unstable industrial process monitoring. Compared with the traditional method, the proposed method performances better in simulation.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126160868","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
Design and Fabrication of a Soft Robotic Manipulator Driven by Fiber-Reinforced Actuators 基于纤维增强作动器的柔性机械臂的设计与制造
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-18 DOI: 10.1109/ICMRA.2018.8490539
Yaxi Wang, Qingsong Xu
{"title":"Design and Fabrication of a Soft Robotic Manipulator Driven by Fiber-Reinforced Actuators","authors":"Yaxi Wang, Qingsong Xu","doi":"10.1109/ICMRA.2018.8490539","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490539","url":null,"abstract":"This paper presents the design and implementation of a four-fingered soft robotic manipulator. Each finger is driven by a fiber-reinforced actuator. Unlike the traditional rigid robotic manipulators, the soft manipulator exhibits the advantage of high adaptability for grasping the objects of various shapes. A prototype is fabricated for experimental testing. Four bending sensors are integrated into the soft manipulator to provide the deformation feedback. A PID feedback control is realized to regulate the grasp force of the manipulator. Experimental results demonstrate the effectiveness of the developed soft robotic manipulator, which can grasp objects with different shapes and sizes.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124571050","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
Frequency Shaping Backstepping Robust Attitude Maneuver of Flexible Spacecraft 柔性航天器的频率整形反步鲁棒姿态机动
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-18 DOI: 10.1109/ICMRA.2018.8490555
Liu Shuhao, Lv Zheng
{"title":"Frequency Shaping Backstepping Robust Attitude Maneuver of Flexible Spacecraft","authors":"Liu Shuhao, Lv Zheng","doi":"10.1109/ICMRA.2018.8490555","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490555","url":null,"abstract":"A robust controller algorithm based on frequency shaping was proposed for the maneuvering problem of flexible spacecraft. To suppress the vibration of flexible appendages., the time-frequency domain mixing performance index was introduced into the backstepping design process. Firstly., the first-level feedback controller by the optimal control method of frequency domain was designed., by which an optimal attitude maneuver path was constructed. Then an adaptive variable structure controller was used to track the maneuver path and compensate the influence of uncertainty and external disturbance. The simulation results demonstrated the effectiveness of the proposed algorithm.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124297236","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
Robust Hand Gesture Input Using Computer Vision, Inertial Measurement Unit (IMU) and Flex Sensors 鲁棒手势输入使用计算机视觉，惯性测量单元(IMU)和柔性传感器
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-18 DOI: 10.1109/ICMRA.2018.8490559
T. F. Chan, Y. Yu, Ho Chuen Kam, K. Wong
{"title":"Robust Hand Gesture Input Using Computer Vision, Inertial Measurement Unit (IMU) and Flex Sensors","authors":"T. F. Chan, Y. Yu, Ho Chuen Kam, K. Wong","doi":"10.1109/ICMRA.2018.8490559","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490559","url":null,"abstract":"Capturing the hand gesture is useful in many virtual reality applications like video games and surgery training for medical students. In this project, we have designed and built a hand tracking glove that is able to track the pose of the hand and the motion of the five fingers. We have employed sensing data from three different kinds of sensors, which includes a camera, an inertial measurement unit (IMU) and flex sensors. The ArUco marker is attached to the back of the glove to obtain the pose information of the hand from the camera. The Kalman filter is applied to stabilize the pose acquired. An IMU is adopted to increase the sampling rate up to 100Hz. Our system uses a sensor fusion scheme. Even if the ArUco marker is occluded temporarily, the pose of the glove can still be obtained. We also make use of the flex sensor to track the finger motion. In our experiment, it is shown that the motion of the hand and fingers can be obtained correctly. A virtual hand model in the computer moves simultaneously with the human hand in the real space.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128918640","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: 19
Leakage-Type Adaptive Robust control for Nonlinear Bulldozer Link Lever System 非线性推土机连杆系统的泄漏型自适应鲁棒控制
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-18 DOI: 10.1109/ICMRA.2018.8490556
Chenming Li, Shengchao Zhen, Hao Sun, H. Zhao
{"title":"Leakage-Type Adaptive Robust control for Nonlinear Bulldozer Link Lever System","authors":"Chenming Li, Shengchao Zhen, Hao Sun, H. Zhao","doi":"10.1109/ICMRA.2018.8490556","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490556","url":null,"abstract":"A modeling approach and an adaptive robust controller are proposed for bulldozer link lever system in this paper. The dynamic equation is acquired by combining Udwadia-Kalaba and Lagrange approaches. In this way, there is no approximation, linearization or extra variables such as Lagrangian multiplier. The controller consists of three parts. The first part is to suppress any tendency of deviating from the constraints. The second part aims to deal with any possible initial condition deviation from the constraint manifold. The third part is based on a leakage-type adaptive law which is used to estimate the unknown bound of the uncertainty. In the end, simulation results verify that the movement of bulldozer link lever can satisfy the desired trajectory and the real-time joint torque can be acquired conveniently by using the proposed approach.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128782446","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
Simulation Study on Production System of Hardware Sets 硬件设备生产系统仿真研究
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-18 DOI: 10.1109/ICMRA.2018.8490574
Xiaotong Wang, Chuanhong Zhou, Yi Zhang
{"title":"Simulation Study on Production System of Hardware Sets","authors":"Xiaotong Wang, Chuanhong Zhou, Yi Zhang","doi":"10.1109/ICMRA.2018.8490574","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490574","url":null,"abstract":"With the development of economy and productivity, manufacturing tends to develop in the direction of multi-species and small quantities, which makes the weaknesses of the single species, large quantities, standardized assembly line production mode gradually highlighted, and cell production mode with high flexibility, low construction cost and short production cycle gradually show its advantages. In order to study effects of the cell production mode in enterprises, we try to apply the cell production mode to current production system and analyze it by simulation. In view of the advantages of cell production mode, combined with the characteristics of the processing methods of the products, the existing system is reformed by cell production mode, and the production system is modeled and simulated by using computer simulation technology. In addition, further optimization in cell production mode is also made to analyze and optimize production system.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132657584","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
Design, Analysis and Electromagnetic Simulation of a Multi-Disc Automotive Magnetorheological Brake 多盘式汽车磁流变制动器的设计、分析与电磁仿真
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490576
Daoming Wang, Langsi Yao, Biao Wang
{"title":"Design, Analysis and Electromagnetic Simulation of a Multi-Disc Automotive Magnetorheological Brake","authors":"Daoming Wang, Langsi Yao, Biao Wang","doi":"10.1109/ICMRA.2018.8490576","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490576","url":null,"abstract":"In order to further improve the safety and reliability of automotive braking system, this study proposes a multi-disc magnetorheological brake (MRB) and the characteristics of its output braking torque are analyzed. In this paper, firstly, the output braking torque of multi-disc MRB is modeled theoretically. Then, the structural model of the MRB is designed and presented. After these, the curve of the relation between coil current and braking torque is obtained and polynomial fitting is carried out by matlab/simulink. Finally, the magnetic circuit of the MRB and the magnetic flux density at the working gap of the MRB are verified by finite element electromagnetic simulation. The results indicate that the MRB can satisfy the requirement of maximum braking torque and still have a margin at the same time. In addition, the coil current and braking torque show a good linear relationship in a certain extent and range, which is conducive to the development of linear control system.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125732114","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
Adaptive Robust Constraint-Following Control for Lower Limbs Rehabilitation Robot 下肢康复机器人的鲁棒约束跟随自适应控制
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490575
Xiaolong Chen, Shengchao Zhen, Hao Sun, H. Zhao
{"title":"Adaptive Robust Constraint-Following Control for Lower Limbs Rehabilitation Robot","authors":"Xiaolong Chen, Shengchao Zhen, Hao Sun, H. Zhao","doi":"10.1109/ICMRA.2018.8490575","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490575","url":null,"abstract":"This paper proposes a new control method from the view of constraint-following for lower limbs rehabilitation robot (LLRR) working under passive training mode. The uncertainties existing in LLRR system are also considered. The uncertainties, including modeling error, initial condition deviation, muscle spasm, friction force and other external disturbances, are (possibly) time-varying. They are unknown but bounded. However, the bounds are also unknown. At first, the unilateral man-machine dynamical model with uncertain parameter of the LLRR and a pre-specified traj ectory constraints are given. Based on the model and the constraints, a nominal control can be given by Udwadia and Kalaba theory with no uncertainties. Then, considering the uncertainties existing in the LLRR system, we propose a class of adaptive robust control to compensate the uncertainties. Finally, the effectiveness of the control is shown by numerical simulation.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115939973","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
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