2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)最新文献_第5页

Ground micro-gravity verification of free-floating non-cooperative satellite docking 自由浮动非合作卫星对接的地面微重力验证

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222710

Haitao Yang, M. Jin, Zongwu Xie, Yu Zhang, Kui Sun, Xiaoyu Zhao

引用次数: 7

Dual drive system modeling and analysis for synchronous control of an H-type gantry h型龙门同步控制双驱动系统建模与分析

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222534

Cong Li, B. Yao, Xiaocong Zhu, Qingfeng Wang

引用次数: 12

Detection of pedestrian crossing road using action classification model 基于动作分类模型的行人过马路检测

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222502

Joko Hariyono, K. Jo

{"title":"Detection of pedestrian crossing road using action classification model","authors":"Joko Hariyono, K. Jo","doi":"10.1109/AIM.2015.7222502","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222502","url":null,"abstract":"This paper presents a detection of pedestrian crossing road method using action classification model. The model incorporates the pedestrian pose recognition, lateral speed and spatial layout of the environment. The spatial body language ratio is used for recognize the pedestrian pose. The center of mass of the body relative to its width and height is used to define the pedestrian pose. Motion trajectory is obtained by using point tracking on the centroid of detected human region. And then estimated velocity is determined. Spatial layout is determined by the distance of the pedestrian to the road lane boundary. These models will be then hierarchically separated according to their action (walking, starting, bending and stopping). In order to classify the pedestrian crossing road, a walking human model is performed. A walking human is defined by ratio of the centroid location from the ground plane divided by the height of bounding box. It should satisfy a constraint. The proposed algorithms are evaluated using publicly (Caltech and ETH) datasets and our pedestrian dataset. The performance results shown the correct pedestrian crossing road classification is 98.10%.","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":"130725702","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

Comparison of passivity based impedance controllers without torque-feedback for Variable Stiffness Actuators 变刚度作动器无力矩反馈无源阻抗控制器的比较

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222691

M. Lendermann, B. R. P. Singh, Florian Stuhlenmiller, P. Beckerle, S. Rinderknecht, P. V. Manivannan

{"title":"Comparison of passivity based impedance controllers without torque-feedback for Variable Stiffness Actuators","authors":"M. Lendermann, B. R. P. Singh, Florian Stuhlenmiller, P. Beckerle, S. Rinderknecht, P. V. Manivannan","doi":"10.1109/AIM.2015.7222691","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222691","url":null,"abstract":"Making robotic joints compliant in their interaction with the environment is an important objective. Controlling contact forces ensures safety as required for human-robot interaction. One issue is to achieve this along with position tracking for Variable Stiffness Actuators (VSA). Since VSAs are compliant themselves, they can contribute to safety requirements in terms of hardware. Beyond this, impedance controllers can additionally alter system output characteristics in software. In this paper, impedance control of VSAs without torquefeedback is investigated. Therefore, two algorithms, which are both based on the passivity principle but differ in the calculation of the desired actuator trajectory, are compared. Implementation without torque-feedback becomes possible by calculating the torque in the elastic element model-based. Simulation and experiments show good position tracking that is comparable for both algorithms. Experimental investigations of interaction with the environment show a compliant behavior which matches the desired compliance of the system for the first algorithm. Using second algorithm leads to a more complex closed loop system and therefore, the compliant behaviour could not be reproduced exactly.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"84 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":"130928405","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: 8

A new efficient adaptive polynomial chaos expansion metamodel 一种新的高效自适应多项式混沌展开元模型

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222702

Guangsong Chen, L. Qian, Jia Ma, Lei Ji

引用次数: 0

Improvement of position accuracy for inflatable robotic arm using visual feedback control method 利用视觉反馈控制方法提高充气机械臂的位置精度

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222630

Hye-Jong Kim, Yuto Tanaka, A. Kawamura, S. Kawamura, Yasutaka Nishioka

引用次数: 20

Mechanical design and position control of a modular mechatronic device (MechaCell) 一种模块化机电一体化装置(mechaacell)的机械设计与位置控制

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222623

Stefan Ristevski, M. Çakmakci

{"title":"Mechanical design and position control of a modular mechatronic device (MechaCell)","authors":"Stefan Ristevski, M. Çakmakci","doi":"10.1109/AIM.2015.7222623","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222623","url":null,"abstract":"Manufacturing techniques have advanced exponentially in recent years, providing means for production of smaller and more powerful electronics, which makes it compelling to design small and more powerful robots. Our work focuses on a mechanical design and position control of a modular mechatronic device called MechaCell. Mechacells are designed as modular semi-autonomous devices which can be used alone or part of a pack. In this paper our main focus is on the mechanical design of the Mechacell, especially the locomotion system which uses forces produced by a rotating unbalance that moves in a spherical domain for steering of the Mechacell. As part of the supervisory algorithm an overhead HD camera is used for position tracking of the Mechacell; the data is then sent to the Mechacells through a wireless connection. A proportional integral derivative controller is used as a base controller; then a friction compensation algorithm is added, based on the mathematical model of the Mechacell's locomotion system. Steering and locomotion controller of the Mechacell is validated using a complex motion profile in the developed testbed.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"3 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":"131681339","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

Design and implementation of model-free PID fuzzy logic control on a 4-bar parallel mechanism 四杆并联机构无模型PID模糊控制的设计与实现

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222780

Qun Ren, P. Bigras

引用次数: 2

Dynamics and control of an overhead shuttle transport system 架空航天飞机运输系统的动力学与控制

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222740

Gyoung-Hahn Kim, Umer Hameed Shah, M. Piao, Sang-Hei Choi, Seoung-Nam Kim, K. Hong

引用次数: 1

Mid-ranging control of a macro/mini manipulator 一个宏/迷你机械手的中程控制

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222628

Zheng Ma, G. Hong, M. Ang, A. Poo

引用次数: 10