2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)最新文献_第3页

High precision control design for SGCMG gimbal servo system SGCMG云台伺服系统高精度控制设计

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222586

Ming Lu, Yuewei Hu, Yingguang Wang, Gang Li, Dengyun Wu, Jiyang Zhang

引用次数: 8

Sensor-minimal motion control of variable stiffness actuators based on the passivity principle and velocity estimation 基于无源原理和速度估计的变刚度作动器传感器最小运动控制

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222782

B. R. P. Singh, P. V. Manivannan, P. Beckerle

{"title":"Sensor-minimal motion control of variable stiffness actuators based on the passivity principle and velocity estimation","authors":"B. R. P. Singh, P. V. Manivannan, P. Beckerle","doi":"10.1109/AIM.2015.7222782","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222782","url":null,"abstract":"This paper investigates a sensor-minimal approach to motion control in variable stiffness actuators. This control approach aims at reducing the need of sensors for tracking a desired trajectory. By this, problems caused by collocation and additional noise in measurement signals could get reduced along with economic benefits due to lower system complexity. Control laws are designed using a passivity-based approach which requires only one sensor, i.e, for measuring actuator position. Due to the demand of information about actuator velocities in the control law, those are calculated using a velocity compensator, numerical calculation, and linear filtering. The parameters of the controller and the velocity compensator are selected based on the global asymptotic stability requirements. To compare the three methods, those are compared regarding the example of the variable torsion stiffness actuator (VTS). Using the controller with the velocity compensator shows good results in simulations and experiments. Numerical calculation achieves slightly worse results while linear filtering does not show feasible results.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"6 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":"128398232","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

Force/torque sensorless impedance control for indirect driven robot-aided gait rehabilitation system 间接驱动机器人辅助步态康复系统的无力/扭矩阻抗控制

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222611

Quoc Van Tran, Sehun Kim, Kyunghwan Lee, Sungchul Kang, J. Ryu

引用次数: 12

Valve dynamics in multi-cylinder positive displacement pump model 多缸容积泵模型中的阀门动力学

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222505

Aleksandar Josifovic, J. Corney, J. B. Davies

{"title":"Valve dynamics in multi-cylinder positive displacement pump model","authors":"Aleksandar Josifovic, J. Corney, J. B. Davies","doi":"10.1109/AIM.2015.7222505","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222505","url":null,"abstract":"Pumps are critical components of many industrial processes. Although they vary in size, depending on the application, their operating principles and performance parameters are similar across generic families. Large industrial positive displacement (P.D.) pumps, primarily used in mining, oil and gas industries, deliver significant amounts of flow coupled with very high pressures. However, increasing energy costs and sustainability concerns demand systems re-design to improve their efficiency. Most established forms of PD pumps have duty cycles fixed by the movement of spring loaded valves. One approach to increase their energy efficiency could be to dynamically vary the movement of these valves. To test this hypothesis and quantify any potential benefits a computational model is required. This paper introduces modelling technique used to analytically describe a multi-cylinder positive displacement pump. A hybrid modelling approach is described which incorporates analytical relationships, the results of CFD simulation and experimental values. Results show how different valve actuation responses affect the overall flow rate of the pump. The results presented in the paper clearly indicate future development steps for improved control of positive displacement pumps.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"1 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":"129143063","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

Optimization of 4Hz medical ruby laser power system with dual cavities using multi-resonant converter 利用多谐振变换器优化双腔4Hz医用红宝石激光电源系统

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222786

Jae-cheol Lee, Hee-je Kim

引用次数: 0

KARL: A new bio-inspired modular limb for robotic applications 一种新型仿生模块化肢体，用于机器人应用

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222529

Mariapaola D’Imperio, L. Carbonari, Nahian Rahman, C. Canali, F. Cannella

引用次数: 0

Design and Simulation of the Adjustable Weight bearing system to adjust the torque change by the distal joint on 2DOF body limb 调节二自由度肢体远端关节转矩变化的可调负重系统设计与仿真

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222610

Daegeun Park, Kyu-Jin Cho

引用次数: 2

Development of 3D laser range finder system for object recognition 三维目标识别激光测距系统的研制

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222736

Young-Geun Moon, S. Go, Ki-Ho Yu, Min-Cheol Lee

引用次数: 6

Development of passive upper limb weight-bearing orthosis to enhance voluntary shoulder rotation for activities of daily living 开发被动式上肢负重矫形器，增强日常生活活动的肩部自主旋转

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222570

Minki Sin, Sang-Hun Kim, Kyu-Jin Cho

{"title":"Development of passive upper limb weight-bearing orthosis to enhance voluntary shoulder rotation for activities of daily living","authors":"Minki Sin, Sang-Hun Kim, Kyu-Jin Cho","doi":"10.1109/AIM.2015.7222570","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222570","url":null,"abstract":"Patients with neuromuscular disorders experience problems with the activities of daily living (ADL) due to limited muscle strength. Upper limb weight-bearing orthoses have been developed to increase quality of life by enabling patients to move their arms freely. Most existing designs help patients lift their arm by compensating the gravitational force on the sagittal plane. However, the essential ADL for a patient's actual life, such as eating, drinking, scratching the face, and receiving phone calls, require motion in 3D space that is mainly performed by forearm movement. To assist forearm motion, weight should be compensated by elbow flexion/extension and shoulder medial/lateral rotation. In this study, a weight-bearing mechanism that compensates the weight in 3D space with only two zero-initial-length springs is presented. We built a 4 degree of freedom passive weight-bearing orthosis (WBO) with three rotational axes on the shoulder and one rotational axis on the elbow to mimic the natural movement of a human arm. To design the WBO, joint placement was considered, and a slider-crank mechanism was used to solve the joint misalignment problem caused by the overlapping of the joint between the WBO and the human arm. A prototype was built to verify the function of the proposed mechanism. It showed sufficient weight compensation performance to enable self-reliance in ADL by reducing the effort required to move the arm.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"21 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":"114237283","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

Tracking a moving ground object using quadcopter UAV in a presence of noise 在存在噪声的情况下使用四轴无人机跟踪移动的地面物体

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222762

Anastasia Razinkova, Hyun-Chan Cho

引用次数: 10