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2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)最新文献

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Tool holder sensor design for measuring the cutting force in CNC turning machines 测量数控车床切削力的刀架传感器设计
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-12-10 DOI: 10.1109/AIM.2015.7222705
D. A. R. Uquillas, S. Yeh
{"title":"Tool holder sensor design for measuring the cutting force in CNC turning machines","authors":"D. A. R. Uquillas, S. Yeh","doi":"10.1109/AIM.2015.7222705","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222705","url":null,"abstract":"Cutting force is of great importance in turning processes because several characteristics of cutting force are useful for predicting and detecting tool conditions such as tool wear and tool breakage. Many commercial devices have been developed to precisely measure cutting forces; however, they are expensive and some installation limitations could limit their applicability in real applications. The cutting force should be measured using a simple, compact, and low cost technique. The present work covers the design and construction of a tool holder sensor to measure the cutting force generated by a CNC turning machine during a turning process. Strain gauges are attached directly inside the tool holder sensor, one on each side of the rectangular shank, to measure strain and estimate the cutting force. Several machining tests performed on a CNC turning machine showed that the proposed tool holder sensor design successfully and precisely measures cutting forces with different turning conditions.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128502115","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: 14
Robust tracking control of networked control systems included uncertainties 网络控制系统的鲁棒跟踪控制包含不确定性
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-08-27 DOI: 10.1109/AIM.2015.7222678
D. Truong, Seyoung Lee, T. L. Dao, K. Ahn
{"title":"Robust tracking control of networked control systems included uncertainties","authors":"D. Truong, Seyoung Lee, T. L. Dao, K. Ahn","doi":"10.1109/AIM.2015.7222678","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222678","url":null,"abstract":"In this paper, a novel robust tracking control (RTC) approach is developed for networked control systems (NCSs) included uncertainties, such as random delays, packet losses and disturbances. Different from the existing control techniques for NCSs, the RTC scheme is a hybrid robust controller with variable sampling period. Firstly, the delay and packet loss information are online updated. This information is then used to configure the controller as well as to estimate the delays at the coming step to optimize the sampling period by using an adaptive grey model (AGM). Secondly, the hybrid robust controller based on quantitative feedback theory (QFT) and robust state feedback theory (RSF) to compensate the bad effects of both the imperfect network and the disturbances on the system performance and consequently, ensure the stable tracking performance. Real-time control experiments are finally carried out to illustrate the effectiveness of the proposed metPhod.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123857528","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
Forearm skeleton modeling for pro-/supination movement using CT image measurement 使用CT图像测量前臂前旋/旋后运动的骨骼建模
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-08-27 DOI: 10.1109/AIM.2015.7222646
K. Nojiri, Takuya Kiyokawa, Y. Okayama
{"title":"Forearm skeleton modeling for pro-/supination movement using CT image measurement","authors":"K. Nojiri, Takuya Kiyokawa, Y. Okayama","doi":"10.1109/AIM.2015.7222646","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222646","url":null,"abstract":"Utilization of the digital human has been tried for the human work-related evaluation for industrial products and the prevention of an injury during sports activity. The human modeling for the posture generation of digital human are studied actively. In this study, we aim for the construction of the skeleton model for forearm pro-/supination to be performed in everyday life frequently. The forearm skeleton of the present digital human is comprised of 1 link, therefor we cannot estimate the movement of the forearm bone exactly. As the pro-/supination model of the forearm skeleton, there are the models Fick and others and Kecskemethy and others proposed. This model is comprised of 4 closed link of ulna, radius, elbow side junction and wrist side junction such as human forearm skeleton. In this paper, by analyzing CT imaging of the forearm, we proposed the newer forearm skeleton model based on biomechanics.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"2015 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127667022","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
Experimental Study on mapping and localization algorithm of intelligent wheelchair in spacious and dynamic environments 宽敞动态环境下智能轮椅地图定位算法实验研究
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-08-27 DOI: 10.1109/AIM.2015.7222648
Li Liu, Weidong Chen, Jingchuan Wang
{"title":"Experimental Study on mapping and localization algorithm of intelligent wheelchair in spacious and dynamic environments","authors":"Li Liu, Weidong Chen, Jingchuan Wang","doi":"10.1109/AIM.2015.7222648","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222648","url":null,"abstract":"As a tool to serve the elderly and disabled people, intelligent wheelchair may work in spacious and dynamic environments, such as parking lot. One difficulty of working in such scenarios is spaciousness and large scale which increases the difficulty of mapping. And the other is that there are various dynamic obstacles with different mobile frequency in the environment, which poses a new challenge to localization. In this paper, a multilayer matching based incremental mapping algorithm is designed to keep map accuracy and consistency in large scale and spacious environments and a localizability-based particle filter localization algorithm is utilized to maintain localization accuracy in dynamic environments. Experiments in two different parking lots verify the effectiveness of the mapping and localization algorithm.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126337833","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
Sensory reflex control of a humanoid robot using FSR sensor 基于FSR传感器的仿人机器人感觉反射控制
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-08-27 DOI: 10.1109/AIM.2015.7222737
Dang Van Chien, Ki-Je Sung, Jong-Wook Kim
{"title":"Sensory reflex control of a humanoid robot using FSR sensor","authors":"Dang Van Chien, Ki-Je Sung, Jong-Wook Kim","doi":"10.1109/AIM.2015.7222737","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222737","url":null,"abstract":"This paper proposes a zero moment point (ZMP) based walking control of humanoid robot using three sagittal joints in the lower body. The ankle joint plays a major role in balancing the whole body and thus needs to limit its joint angle in case of weakened posture stability. The knee joint can make the upper body move backward when the robot begins to tilt forward, and the hip joint is to correct upper body angle on the verge of falling back. The proposed angular adjustment rule of the three leg joints is based on the desired stable region assigned inside support foot area. Specifically, the difference angles for the knee and hip joints are calculated based on the kinematic model of a humanoid robot according to distance of the current ZMP from a boundary of desired region. The proposed approach is validated through walking experiment with a commercial humanoid robot platform Robotis-OP.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121976356","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
Motion assistance apparatus enabled for neuro-rehabilitation of patients and for the promotion of exercise for the elderly 运动辅助装置，使患者的神经康复和促进老年人的运动
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-08-27 DOI: 10.1109/AIM.2015.7222659
Eiichirou Tanaka, Ryosuke Niwa, Kazuki Osawa, Keyaki Nakajima, Keiichi Muramatsu, K. Watanuki, S. Saegusa, L. Yuge
{"title":"Motion assistance apparatus enabled for neuro-rehabilitation of patients and for the promotion of exercise for the elderly","authors":"Eiichirou Tanaka, Ryosuke Niwa, Kazuki Osawa, Keyaki Nakajima, Keiichi Muramatsu, K. Watanuki, S. Saegusa, L. Yuge","doi":"10.1109/AIM.2015.7222659","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222659","url":null,"abstract":"We developed a motion assistance apparatus which can be used for neuro-rehabilitation of patients and for the promotion of exercise for the elderly. This apparatus assists only the ankle joints of the equipped person according to the posture of him/her while walking, getting up, sitting, and standing. By using this apparatus, the dorsiflexion and plantarflexion of the ankle joint of the equipped person can increase while walking. Therefore, this apparatus can prevent stumbling and promote walking and various motions.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116865750","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: 9
Intrinsic UDE control of mechanical systems on SO(3) SO(3)上机械系统的固有UDE控制
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-08-27 DOI: 10.1109/AIM.2015.7222781
A. L. M. S. Liyanage, J. Berg, B. Ren, D. H. S. Maithripala
{"title":"Intrinsic UDE control of mechanical systems on SO(3)","authors":"A. L. M. S. Liyanage, J. Berg, B. Ren, D. H. S. Maithripala","doi":"10.1109/AIM.2015.7222781","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222781","url":null,"abstract":"The uncertainty and disturbance estimation (UDE) structure provides flexible and intuitive controller design for command following and disturbance rejection in uncertain linear and nonlinear systems. In this paper, an intrinsic UDE controller is demonstrated for fully-actuated mechanical systems on SO(3), the group of rigid-body rotations in three-dimensional Euclidean space. The controller is derived in a geometric framework, thereby avoiding issues arising from any particular set of coordinates. Simulations and experiments using a quadrotor test bed show that the controller can stabilize a desired equilibrium attitude in the presence of disturbances and parameter error.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124041352","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
Laser interferometry-based tracking of multirotor helicopters 基于激光干涉的多旋翼直升机跟踪
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-08-27 DOI: 10.1109/AIM.2015.7222764
R. Porter, B. Shirinzadeh, M. Choi, U. Bhagat
{"title":"Laser interferometry-based tracking of multirotor helicopters","authors":"R. Porter, B. Shirinzadeh, M. Choi, U. Bhagat","doi":"10.1109/AIM.2015.7222764","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222764","url":null,"abstract":"This paper presents the development and implementation of laser interferometry-based sensing and measurement for precise positioning and tracking of multirotor helicopters. A control architecture is developed, which incorporates position feedback from a laser interferometry-based sensing and measurement system. A dynamics model of multirotor helicopters is established in order to achieve position and motion control. The control architecture facilitates auto-alignment of the laser-beam and cat-eye retroreflector mounted on the multirotor helicopter. A theoretical analysis of laser interferometry-based sensing and measurement for positioning of multirotor helicopters is performed. Further, an experimental research facility is established with a laser system and 4-rotor helicopter. Experimental study and error analysis offer evidence that the laser based system maintains laser-beam and retroreflector alignment, facilitating continuous, real-time precise position measurements.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121726216","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 generalized underactuated robot system inversion method using Hamiltonian formalism 基于哈密顿形式的广义欠驱动机器人系统反演方法
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-08-27 DOI: 10.1109/AIM.2015.7222739
J. Short, A. Poo, Chow Yin Lai, P. Y. Tao, M. Ang
{"title":"A generalized underactuated robot system inversion method using Hamiltonian formalism","authors":"J. Short, A. Poo, Chow Yin Lai, P. Y. Tao, M. Ang","doi":"10.1109/AIM.2015.7222739","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222739","url":null,"abstract":"A new generalized method of stable model inversion is presented with the aim of providing solutions for the feedforward control of underactuated robots. The area of application is in SISO and MIMO systems within robotics which contain only scleronomous constraints. This generalized restriction is discussed followed by a justification of its sufficiency. The method uses a boundary value problem framework along with Hamiltonian formalism, representing the dynamic equations of motion, to solve for the stable model inversion of a robotic system. The benefits of the method include energy savings, enhanced safety, and robot simplification. An example of the robot feedforward control solution is presented to conclude the work.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"2020 42","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134482025","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
Design of a low-cost underactuated finger for positioning or pinching thin objects 设计一种低成本的欠驱动手指，用于定位或捏捏薄物体
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-08-27 DOI: 10.1109/AIM.2015.7222688
Jinchang Fan, Can-jun Yang, Qian Bi, H. Gu
{"title":"Design of a low-cost underactuated finger for positioning or pinching thin objects","authors":"Jinchang Fan, Can-jun Yang, Qian Bi, H. Gu","doi":"10.1109/AIM.2015.7222688","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222688","url":null,"abstract":"Robotic grippers in industry are expected to have low degrees of freedom (DOFs) with cost and simplicity concerns. However, thin objects (e.g. mobile phone covers, shielding of IC chips) cannot be handled by traditional gripper fingers, since deformation may be caused. To solve this problem, a low-cost underactuated finger with a special four-bar linkage and a flexible joint is proposed in this paper. The special four-bar linkage is designed to obtain the desirable motion trail of the fingertip which is a quasi-horizontal line, while the flexible joints reduce the impact force and achieve compliant force control. In this paper, the design methodology of the four-bar linkage and the flexible joint is introduced, while the kinematic performance is analyzed. An experiment was conducted to verify the design and analysis. Results show that the proposed two DOFs underactuated finger can be applied on a robotic gripper to pinch or position thin objects. Finally, an example for its application is briefly explained to reinforce the concept.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"2008 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130219882","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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