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

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Design of a two degree of freedom resonant miniature robotic leg 二自由度谐振微型机器人腿的设计
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222551
S. A. Rios, A. Fleming, Y. Yong
{"title":"Design of a two degree of freedom resonant miniature robotic leg","authors":"S. A. Rios, A. Fleming, Y. Yong","doi":"10.1109/AIM.2015.7222551","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222551","url":null,"abstract":"This article identifies the design considerations for a two degree of freedom (DoF) miniature robotic leg utilizing piezoelectric bimorph actuators with a specific focus on the resonance modes of the system. An analytical model was developed using three independent lumped mass models with superposition for tuning the resonance frequencies and optimizing the performance of the leg. The model was verified both experimentally and using finite element analysis (FEA).","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115314395","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
Displacement field sensing and reconstruction for vibration of a thin-wall plate 薄壁板振动的位移场传感与重构
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222726
Jiajie Guo, Ruochu Liu, Kok-Meng Lee
{"title":"Displacement field sensing and reconstruction for vibration of a thin-wall plate","authors":"Jiajie Guo, Ruochu Liu, Kok-Meng Lee","doi":"10.1109/AIM.2015.7222726","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222726","url":null,"abstract":"The machining of complex thin-wall aircraft components has been a challenging task because workpiece deformation and vibration render poor precision in final products, which requires displacement field measurements for vibration compensation techniques to enhance product quality. Continuous deformations in both spatial and time domains, during the machining of thin-walled plates, are difficult to capture by traditional experiment or simulation methods. In the context of an engineering application where an annular compressor disk is lathe-turned on a duplex machine, this paper presents a displacement field reconstruction (DFR) method to capture plate dynamic behaviors, which provides a basis for workpiece vibration compensation. As an illustration emulating the cutting conditions of a compressor disk, the deformed shapes of an annular plate subjected to external loads and two different constraint configurations were simulated by the DFR and compared with that of a nonlinear FEA. It analyzes the effects of the number of sensors on the DFR efficiency including percentage error and time cost. Finally, the proposed DFR method was experimentally validated in both static and dynamic cases.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115683216","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
Preliminary experimental study on the sensing performance of a capacitive tactile sensor array mounted on curved surfaces 一种安装在曲面上的电容式触觉传感器阵列传感性能的初步实验研究
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222651
Guanhao Liang, Yan-cheng Wang, Deqing Mei, Kailun Xi, Zichen Chen
{"title":"Preliminary experimental study on the sensing performance of a capacitive tactile sensor array mounted on curved surfaces","authors":"Guanhao Liang, Yan-cheng Wang, Deqing Mei, Kailun Xi, Zichen Chen","doi":"10.1109/AIM.2015.7222651","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222651","url":null,"abstract":"In real applications, the capacitive tactile sensor array usually needs to be mounted on curved surfaces. To study the effect of curved surfaces on the sensing performance of the sensor array, we have fabricated the sensor array with 4 × 4 sensor units. Four types of rigid and flexible curved surfaces are selected to mount the sensor array, with radius of curvature of +∞, 40 mm, 30 mm, and 20 mm. The initial capacitances of the sensor array increase as the radius of the surfaces decrease. By applying normal and shear forces to the sensor unit mounted on the curved surfaces, we have found that as the radius of the surface decrease, the capacitance increases faster when the sensor is mounted on 40 mm curved surfaces, and increases slower on 30 mm and 20 mm curved surfaces. The shear forces in the x- and y-axes cause symmetric and asymmetric capacitance changes to the sensor unit, respectively. The flexible curved surfaces can induce larger capacitance changes to the sensor unit, compared with the rigid ones.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116776722","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
Kinematic analysis and optimization for 4PUS-RPU mechanism 4pu - rpu机构的运动学分析与优化
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222553
Dan Zhang, Bin Wei
{"title":"Kinematic analysis and optimization for 4PUS-RPU mechanism","authors":"Dan Zhang, Bin Wei","doi":"10.1109/AIM.2015.7222553","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222553","url":null,"abstract":"In this paper, an approach based on the particle swarm optimization is used to multi-objective optimize the global compliance and global condition index of the 4PUS-RPU mechanism. The kinematic analysis of the mechanism is first analyzed. Then the compliance model of the mechanism is derived and the sum of the leading diagonal elements of the compliance matrix, which is also known as the global compliance, is used as a criterion to evaluate the mechanism's rigidity. Secondly, the global condition index, which is derived based on the Monte Carlo method, is used as a criterion to evaluate the workspace of the mechanism. Increasing the workspace of mechanism will increase the compliance of the mechanism; here the global compliance and the global condition index of the mechanism are optimized simultaneously based on the particle swarm optimization. Finally the optimized results are analyzed and compared.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116891106","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
Atomic force microscopy using voice coil actuators for vibration isolation 原子力显微镜使用音圈执行器进行隔振
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222578
S. Ito, Daniel Neyer, S. Pirker, Jürgen Steininger, G. Schitter
{"title":"Atomic force microscopy using voice coil actuators for vibration isolation","authors":"S. Ito, Daniel Neyer, S. Pirker, Jürgen Steininger, G. Schitter","doi":"10.1109/AIM.2015.7222578","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222578","url":null,"abstract":"This paper presents a vibration isolation system integrated with the internal actuators of an atomic force microscope (AFM) to vertically move the probe. For the motion, voice coil actuators (Lorentz actuators) are guided by low-stiffness flexures. Due to the low stiffness, the vibrations from the floor to the probe are decoupled at high frequencies. To reject the residual vibrations, the AFM probe tracks the AFM sample by using a displacement sensor. By mechanical and control design specifically for Lorentz actuators, the vertical motion has a control bandwidth that is 24 times higher than the first mechanical resonance to reject vibrations. As a demonstration of the vibration isolation performance, pits and tracks of a CD-ROM are successfully imaged without an external vibration isolator.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117352614","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: 30
Damping support fixture for vibration suppression in milling of thin-walled casing 薄壁套管铣削减振阻尼支撑夹具
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222725
M. Luo, Xiaofan Zhang, Baohai Wu
{"title":"Damping support fixture for vibration suppression in milling of thin-walled casing","authors":"M. Luo, Xiaofan Zhang, Baohai Wu","doi":"10.1109/AIM.2015.7222725","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222725","url":null,"abstract":"Machining vibration is one of the main phenomenon occurs in milling of thin-walled workpiece, it will lead to poor surface finish and low machining efficiency. Especially for challenging situations such as large dimension closed casing, vibration is one of the main factors affecting the improvement of machining efficiency. In this work, a method by applying damping support fixtures for machining vibration suppression is developed. It can be mounted at different positions on the inner surface of casing to suppress vibration. This method has been validated by finite element simulation and cutting experiments. The results show that vibration can be suppressed with the presence of damping support fixtures. The new method can be used to get higher machining efficiency and better surface finish in milling of thin-walled casing.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127542599","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
Slip detection and prediction in human walking using only wearable inertial measurement units (IMUs) 基于可穿戴惯性测量单元(imu)的人体行走滑动检测与预测
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222645
M. Trkov, Kuo Chen, J. Yi, Tao Liu
{"title":"Slip detection and prediction in human walking using only wearable inertial measurement units (IMUs)","authors":"M. Trkov, Kuo Chen, J. Yi, Tao Liu","doi":"10.1109/AIM.2015.7222645","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222645","url":null,"abstract":"Slip and fall is one of the major causes for human injuries for elders and professional workers. Real-time detection and prediction of the foot slip is critical for developing effective assistive and rehabilitation devices to prevent falls and train balance disorder patients. This paper presents a novel real-time slip detection and prediction scheme with wearable inertial measurement units (IMUs). The slip-detection algorithm is built on a new dynamic model for bipedal walking with slips. An extended Kalman filter is designed to reliably predict the foot slip displacement using the wearable IMU measurements and kinematic constraints. The proposed slip detection and prediction scheme has been demonstrated by extensive experiments.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114903408","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
Dimensional synthesis of a lightweight shoulder exoskeleton 轻型肩外骨骼的尺寸合成
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222614
Hsiang-Chien Hsieh, Li Chien, Chao-Chieh Lan
{"title":"Dimensional synthesis of a lightweight shoulder exoskeleton","authors":"Hsiang-Chien Hsieh, Li Chien, Chao-Chieh Lan","doi":"10.1109/AIM.2015.7222614","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222614","url":null,"abstract":"Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Compared with lower limb exoskeletons, upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient augmentation force. Designs using serial mechanisms usually result in complicated and bulky exoskeletons that prevent themselves from being wearable. This paper presents a new exoskeleton aimed to achieve compactness and wearability. We consider a shoulder exoskeleton that consists of two spherical mechanisms with two slider crank mechanisms. The actuators can be made stationary and attached side-by-side, close to a human body. Thus better inertia properties can be obtained while maintaining lightweight. The dimensions of the exoskeleton are synthesized to achieve maximum output force. Through illustrations of a prototype, the exoskeleton is shown to be wearable and can provide adequate motion enhancement of a human's upper limb.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115353131","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
Robust controller design for CNC servo motors against the variation of external loading via the H∞/QFT approach 基于H∞/QFT方法的数控伺服电机抗外部负载变化鲁棒控制器设计
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222748
Bo-Yi Wu, P. Hsu
{"title":"Robust controller design for CNC servo motors against the variation of external loading via the H∞/QFT approach","authors":"Bo-Yi Wu, P. Hsu","doi":"10.1109/AIM.2015.7222748","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222748","url":null,"abstract":"In industrial applications servo motors are applied to different loads and varied control performance is thus unavoidable. Under such circumstances, engineers usually re-design or re-tune controller parameters to meet certain design specifications without reliable and consistent control performance or motion precision. In robust controller design, the quantitative feedback theory (QFT) is adopted by applying both the loop-shaping design and the feedforward controller in its feedback loop with a suitable order determined from experience. On the other hand, H∞ controller is designed in frequency domain but is directly calculated in time domain with the controller type without restriction in selecting its order. However, H∞ controller only deals with sensitivity without meeting control performance as in QFT design. In this study, the combined approach by using both the H∞ algorithm and the QFT controller with better robustness is applied to the servo motor control design; in addition, the QFT feedforward controller in loop-shaping is included to lead to desirable control performance. Experimental results show that by applying the present H∞/QFT approach, the similar system responses under different external loading on the CNC servo motor can be successfully obtained to prove the feasibility of the present method in industrial automation.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122327596","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
Quality landmark selection from image streams based on distinctiveness and repeatability 基于独特性和可重复性的图像流质量地标选择
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222662
Masamichi Shimoda, Kimitoshi Yamazaki
{"title":"Quality landmark selection from image streams based on distinctiveness and repeatability","authors":"Masamichi Shimoda, Kimitoshi Yamazaki","doi":"10.1109/AIM.2015.7222662","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222662","url":null,"abstract":"Mobile robots moving in broad workspace should have abilities to select usefulness landmarks for stable self-localization. In this paper, we proposed a method of landmark selection from image streams captured by a camera mounted on a mobile robot. To select stable visual landmarks for mobile robots, distinctiveness and repeatability are considered. Several neighboring feature points form a visual landmark, and its distinctiveness is evaluated in each image. After that, under the assumption that robots are able to seek such feasible landmarks actively, repeatability of the landmark is evaluated. Weighting techniques using feature position relationships is proposed, and landmark selection criteria using variation coefficient is defined. They result to select high visibility landmarks. Proof experiments using a real mobile robot shows the effectiveness of the proposed method.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114383660","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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