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

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Modeling, analysis, and controllability of a single-actuator differentially-driven robot 单作动器差动机器人的建模、分析和可控性
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222742
M. Alsalman, Elie A. Shammas, Hadi Salman
{"title":"Modeling, analysis, and controllability of a single-actuator differentially-driven robot","authors":"M. Alsalman, Elie A. Shammas, Hadi Salman","doi":"10.1109/AIM.2015.7222742","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222742","url":null,"abstract":"In this paper, we develop an elaborate three-dimensional dynamical model for a novel single-actuator variable-diameter differentially-driven robot by taking recourse to Lagrangian formulation. Utilizing this model, we were able to analyze the various parameters and develop design tools that could be used in realizing such a robot with certain motion requirements. Given the single actuator design that inherently limits steering, the proposed model is an excellent platform to test optimal path planning techniques such as Dubins curves. We study the effect of dynamical forces on following time-optimal trajectories and finally we analyze the controllability of our system.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"33 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":"124347852","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
Informed RRT* towards optimality by reducing size of hyperellipsoid 通过减小超椭球体的尺寸，使RRT*趋向最优
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222539
Min-Cheol Kim, Jae-Bok Song
{"title":"Informed RRT* towards optimality by reducing size of hyperellipsoid","authors":"Min-Cheol Kim, Jae-Bok Song","doi":"10.1109/AIM.2015.7222539","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222539","url":null,"abstract":"Wrapping-based informed RRT* is a modified version of informed RRT*. Informed RRT* formulates an n-dimensional hyperellipsoid from which it generates new sample nodes. This has a dramatically increased chance of sampling nodes that will improve the current best solution compared to conventional RRT*. However, due to explorative and randomized behaviors of RRT*, the size of the hyperellipsoid will unlikely be small enough to call it effective. To solve this matter, wrapping-based informed RRT* proposed in this paper combines a size-diminishing procedure called `wrapping process' with informed RRT*. The proposed planner can advance from the first solution acquired by the planner to the improved, feasible solution which can drastically reduce the size of the hyperellipsoid. Therefore, the required time consumption in order to acquire the globally optimal solution is reduced dramatically. The algorithm was tested in various environments with different numbers of joint variables and showed much better performance than the existing planners. Furthermore, the wrapping process proved to be a comparably insignificant computational burden regardless of the number of dimensions of the configuration space.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"78 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":"126308010","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: 10
The IoT based automate landing system of a drone for the round-the-clock surveillance solution 基于物联网的无人机自动着陆系统，用于24小时监控解决方案
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222767
Heeseo Chae, Junho Park, Ho-Bum Song, Yonghwan Kim, HaeWook Jeong
{"title":"The IoT based automate landing system of a drone for the round-the-clock surveillance solution","authors":"Heeseo Chae, Junho Park, Ho-Bum Song, Yonghwan Kim, HaeWook Jeong","doi":"10.1109/AIM.2015.7222767","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222767","url":null,"abstract":"Due to the many constraints the existing drones have provided only one-time operation sequence that an operator manipulate it directly within the line of sight and charge the battery after the end of the flight. In this paper, we overcome these problems and suggest a solution to utilize a drone as the round-the-clock surveillance system. It is composed by the active landing-field which can support automatic charging and landing, the IoT-based command system, and the drone-user interaction application of the mobile device. The prototype of the system for the automate landing was implemented, and it was tested to verify the feasibility.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"58 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":"126338439","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: 35
The quantitative analysis for a contact-mode triboelectric energy harvesting device 一种接触型摩擦电能量收集装置的定量分析
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222595
Daewoong Hong, Young-Man Choi, Jaehwa Jeong
{"title":"The quantitative analysis for a contact-mode triboelectric energy harvesting device","authors":"Daewoong Hong, Young-Man Choi, Jaehwa Jeong","doi":"10.1109/AIM.2015.7222595","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222595","url":null,"abstract":"Triboelectric energy harvesting is a promising energy harvesting technology which converts ambient mechanical energy into electrical energy using triboelectric and electrostatic coupling effects. In this paper, a contact-mode triboelectric energy harvesting device (TEHD) were qualitatively analyzed using a precision test rig, which accurately controlled the contact force and approach speed. From the governing equations of the contact-mode TEHD, we found factors which influence the performance of TEHD, and this was verified by experiments. The contact force affected to the amount of triboelectric charges, and short-circuit current. The approach speed of moving part did not affect the charges, but the short circuit current, output power, and optimal resistance.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"12 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":"126490863","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
Vision based control of a conjugated electro-active polymer actuator 共轭电活性聚合物作动器的视觉控制
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222640
M. Y. Coşkun, M. Itik
{"title":"Vision based control of a conjugated electro-active polymer actuator","authors":"M. Y. Coşkun, M. Itik","doi":"10.1109/AIM.2015.7222640","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222640","url":null,"abstract":"We propose a vision based control system to control the tip position of a tri-layer conjugated ionic electroactive polymer actuator (EAP). The position information of the EAP actuator is extracted from the visuals obtained via a simple webcam by using threshold and closing algorithms. The location information is used as the feedback signal to the discrete-time PID controller which is supported by Smith Predictor. The Smith predictor method is used to overcome the effects of the delay caused by the image processing on the control performance. Accuracy of the measurements obtained via the camera is then compared to those obtained via a laser displacement sensor. Results show that vision based control provides accurate positioning of the polymer actuator which may widen applications of this class of actuators.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"13 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":"128006401","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
Scanning probe microscope trajectory measurement by scanning a single feature 扫描探针显微镜通过扫描单个特征来测量轨迹
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222577
James C. Peyton Jones, G. Clayton
{"title":"Scanning probe microscope trajectory measurement by scanning a single feature","authors":"James C. Peyton Jones, G. Clayton","doi":"10.1109/AIM.2015.7222577","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222577","url":null,"abstract":"In this paper, a method for estimating scanning probe microscope (SPM) trajectories using only the probe-surface interaction signal is presented. The novelty of this approach is that the trajectory estimate can be made by scanning over one feature. SPMs are perhaps the most important devices for nanotechnology because of their unrivaled ability to measure, manipulate, and modify surfaces at extremely high resolution. Although widely used, SPM operating speed is limited. In order to increase operating speed, SPM trajectory measurement is useful to enable control and modeling, but the sensors required to make those measurements are not always available due to various sensor issues. The probe-surface interaction signal-based probe trajectory estimation technique in this paper overcomes issues associated with conventional sensors by using the existing probe-surface interaction measurement capabilities of SPM systems. The presented method analyzes probe-surface interactions from one feature on the sample's surface to determine a set of probe trajectory zero crossings. This set can be used to estimate the probe trajectory through a nonlinear least squares fit. In order to show the validity of this approach, proof-of-concept simulations are presented.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"355 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":"115932240","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
Predicting the disconnection of flocking agents in a swarm 预测群体中群集体的断开
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222805
K. Naruse
{"title":"Predicting the disconnection of flocking agents in a swarm","authors":"K. Naruse","doi":"10.1109/AIM.2015.7222805","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222805","url":null,"abstract":"The objective of this paper is to develop an index that indicates how and when flocking agents become disconnected from a swarm. Each flocking agent interacts with nearby neighbor agents and determines its motion relative to the positions and velocities of the neighbor agents. The neighbor relations are dynamic and it is difficult to predict an exact motion for each of them. Our objective is to consider the effect of a target agent on a swarm. First, we model the flocking in terms of a virtual spring and damper system and develop a disconnection index between the target and another agent using the model dynamics. We then consider the degree to which the target agent can affect a group of agents using a graph topology. We evaluate the index via numerical experiments.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"47 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":"131349857","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 PID control for position tracking of an underwater manipulator 水下机械臂位置跟踪的鲁棒PID控制
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222792
M. Santhakumar, Jinwhan Kim
{"title":"Robust PID control for position tracking of an underwater manipulator","authors":"M. Santhakumar, Jinwhan Kim","doi":"10.1109/AIM.2015.7222792","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222792","url":null,"abstract":"This article investigates a new robust nonlinear proportional integral derivative (PID) position tracking control applied on a serial underwater spatial manipulator with three degrees of freedom. The proposed controller integrates the known approximated inverse dynamic model output as a model-base portion of the controller. It uses a feed forward term to enhance the control activity with indulgence from known desired acceleration vector. The proposed control scheme carries an estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodelled dynamics. Finally, it has a decoupled nonlinear PID controller as a feedback portion to enhance closed-loop stability and account for the estimation error of uncertainties. The usefulness and competency of the proposed approach are demonstrated with the help of numerical simulations.","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":"132319843","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: 6
Optimized control of skid steering mobile robot with slip conditions 具有滑移条件的滑移转向移动机器人的优化控制
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222663
O. Elshazly, Z. Zyada, Abdelfatah M. Mohamed, G. Muscato
{"title":"Optimized control of skid steering mobile robot with slip conditions","authors":"O. Elshazly, Z. Zyada, Abdelfatah M. Mohamed, G. Muscato","doi":"10.1109/AIM.2015.7222663","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222663","url":null,"abstract":"Application of different optimization techniques for nonlinear controller parameters of a skid steering mobile robot (SSMR) with its inherited slip characteristics is crucial in saving designer's time and effort. In this paper, two computational optimization techniques, particle swarm optimization (PSO) and genetic algorithms (GA), are applied, evaluated and compared to optimize the nonlinear controller parameters of an SSMR moving in a plane. The SSMR controller is designed for tracking a reference robot with the same kinematics. For the purpose of simulation, SSMR kinematics is extended to include slip effects. Simulation programs for both optimization techniques are implemented and the optimized controller parameters are obtained. The system response is examined with the optimized parameters for tracking different trajectories in the presence of different types of disturbances and slip coefficients. Simulation results show better performance of PSO tuning based algorithm than GA one, especially in terms of Mean Square Error (MSE) performance index and computational time.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"40 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134259916","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
Using game physics engines for hardware-in-the-loop material flow simulations: benefits, requirements and experiences 使用游戏物理引擎的硬件在环物料流模拟:好处，要求和经验
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222670
Philipp Neher, A. Lechler
{"title":"Using game physics engines for hardware-in-the-loop material flow simulations: benefits, requirements and experiences","authors":"Philipp Neher, A. Lechler","doi":"10.1109/AIM.2015.7222670","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222670","url":null,"abstract":"Object of this paper is the proposal of using existing physics engines mainly deployed in video games and movie animations for simulating material flow applications with a high degree of reality. Since the actual control systems are supposed to be tested and verified using this simulation it has to possess real-time capabilities for usage with a hardware-in-the-loop simulation setup. This paper illustrates why such a simulation is necessary concerning the considered application. In addition, the required work items to achieve this approach are presented. During the realization, encountered problems and obstacles are commented on as well.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"27 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":"134570387","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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