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

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Estimated force based velocity synchronization for fly touch control in hot rolling process 基于力估计的热轧飞触控制速度同步
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222783
S. Yoon, Min-Cheol Lee, Sung-Jin Kim, Hyun-Hee Kim, Keum-Gang Cha
{"title":"Estimated force based velocity synchronization for fly touch control in hot rolling process","authors":"S. Yoon, Min-Cheol Lee, Sung-Jin Kim, Hyun-Hee Kim, Keum-Gang Cha","doi":"10.1109/AIM.2015.7222783","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222783","url":null,"abstract":"In the hot rolling process, scratches are caused by immense friction between the rollers and the steel plate, and this defect reduces the quality of steelworks. To solve this problem, a flying touch method was proposed, which can control the gap between rollers for reducing scratches in hot rolling process. In a flying touch method, it is important that the gap between the rolling rolls can be control precisely and the velocity of rolling rolls can be synchronize to minimize the friction between steel plate and rolling rolls. Therefore, this paper addresses the velocity synchronize control for fly touch method. To reduce friction between steel plate and rolling rolls, this study estimates load torque of rolling rolls using torque estimation method based on SPO and control the velocity of rolling rolls according to estimated load torque. To confirm the performance of the estimated Force based velocity synchronize control, experimental evaluation is performed using down scaled simulator designed in previous study.","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":"129233673","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
Altitude estimation using particle filter with monopulse radars in a multipath environment 多径环境下单脉冲雷达的粒子滤波高度估计
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222532
Y. Takabayashi, Y. Obata, R. Kurazume
{"title":"Altitude estimation using particle filter with monopulse radars in a multipath environment","authors":"Y. Takabayashi, Y. Obata, R. Kurazume","doi":"10.1109/AIM.2015.7222532","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222532","url":null,"abstract":"The problem of multipath propagation in the tracking low-altitude targets with a radar is addressed. It is well known that multipath fading causes bias errors to the target altitude over the sea. Since the bias error caused by multipath propagation depends on a large number of parameters such as the frequency of the radar waveform, the actual target altitude, and range, it is difficult to estimate the bias errors. In this paper, we propose an altitude estimation method using particle filter and multipath propagation model. The performance of the proposed method is verified through computer simulations.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"22 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":"126773957","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
Terrain aided navigation for long-range AUVs using a new bathymetric contour matching method 基于新的等高线匹配方法的远程水下机器人地形辅助导航
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222540
Ling Zhou, Xianghong Cheng, Yixian Zhu, Yuan Lu
{"title":"Terrain aided navigation for long-range AUVs using a new bathymetric contour matching method","authors":"Ling Zhou, Xianghong Cheng, Yixian Zhu, Yuan Lu","doi":"10.1109/AIM.2015.7222540","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222540","url":null,"abstract":"Terrain aided navigation (TAN) is an effective technique to obtain a position estimate for autonomous underwater vehicles (AUVs) when GPS signals are unavailable. To overcome the limitations on initial position errors and AUV trajectory, this paper presents a new bathymetric contour matching method on high-resolution maps. With the help of the single beam echo sounder or the multi-beam echo sounder, the proposed method is verified by seabed TAN. Extensive experiments with high-accuracy bathymetric data on both synthetic and real bathymetric maps show that the AUV position errors are almost proportional to the circular error probability (CEP) of the position. The research has practical significance in position initial alignment for long-range AUVs.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"108 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":"123364555","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: 11
Development of integrated hydrostatic-driven electric generator 综合水力发电机的研制
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222585
Tao Wang, Zhixiong Zhou
{"title":"Development of integrated hydrostatic-driven electric generator","authors":"Tao Wang, Zhixiong Zhou","doi":"10.1109/AIM.2015.7222585","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222585","url":null,"abstract":"Structure integration has drawn much attention in mechatronic design. This paper presents a compact component which combines the functions of an axial piston hydrostatic motor and a permanent magnet electric generator together. The integrated machine is realized by mounting a Halbach permanent magnet array which has self-shielding magnetic property on the surface of the motor's barrel, and then direct energy conversion between hydrostatic and electrical is sustained through the torque balance acting on the compound rotor. Tradeoff design is carried out for significant parameters based on the utilization of some standard parts. A prototype is fabricated and tested under no-load and loaded conditions. The results show that the prototype has small volume and moment of inertia, reasonable efficiency, as well as good generation quality and output voltage stiffness, which verifies the effectiveness of the proposed structure and design methodology.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"55 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":"122998529","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
Method of position measurement for stationary sensor node based on marine tag 基于船用标签的静止传感器节点位置测量方法
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222795
A. Ono, Satoru Takahashi, K. Kawabata, Tsuyoshi Suzuki, F. Takemura
{"title":"Method of position measurement for stationary sensor node based on marine tag","authors":"A. Ono, Satoru Takahashi, K. Kawabata, Tsuyoshi Suzuki, F. Takemura","doi":"10.1109/AIM.2015.7222795","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222795","url":null,"abstract":"In recent years, it says that the number of the coral decreases by the change in the marine ecosystem, the change of marine environment and increase of crown-of-thorns starfish. Therefore, the research and preservation of coral is necessary urgently. Then, authors have been developing the device which is called the stationary sensor node to observe underwater environment with wide range for a long term. In order to measure identical spot with the device, it is necessary to grasp its attitude data of stationary sensor node and observe the coral in the fixed position. However, it is difficult to grasp all of information by internal sensor of stationary sensor node. In this paper, we introduce a method of position measurement of marine tag which is defined as landmark on underwater image. Further, we show a method to estimate the attitude data based on position data of marine tag.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"4 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":"126314425","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
Robotic face milling path correction and vibration reduction 机器人铣面轨迹修正与减振
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222591
Knut B. Kaldestad, I. Tyapin, G. Hovland
{"title":"Robotic face milling path correction and vibration reduction","authors":"Knut B. Kaldestad, I. Tyapin, G. Hovland","doi":"10.1109/AIM.2015.7222591","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222591","url":null,"abstract":"In this paper the developed method for off-line compensation of tool deflections and vibration reduction when milling aluminum with an industrial robot is presented. The efficiency of this approach is verified with high precision measurements of deflections using a laser tracker. The compensation method is based on the static milling process model which can predict the mean value components of the tool forces and the passive damping system mounted on the spindle to reduce vibrations. With a process model such as the one presented in this paper and estimates of the robot's joint stiffness values, the tool path can be adjusted to counteract deflections of the tool during milling operations. The presented method increases accuracy when using an industrial robot for milling in relatively hard materials.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"26 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":"114221263","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: 28
Compact drive system for planetary rovers and space manipulators 行星探测器和空间操纵器的紧凑型驱动系统
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222613
Elias Brassitos, S. Dubowsky
{"title":"Compact drive system for planetary rovers and space manipulators","authors":"Elias Brassitos, S. Dubowsky","doi":"10.1109/AIM.2015.7222613","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222613","url":null,"abstract":"Space robotics requires a new generation of actuators that have high torque densities and high efficiencies, high positioning resolutions, high torque capacities and torsional stiffnesses. Ideally they should be lightweight and low-cost. This paper presents a new hardware actuator technology concept to address the above needs. In the concept, a compact integrated motor-transmission-joint mechanism is optimized for size and torque density, while providing good joint support. This is achieved by novel arrangement of multi-function mechanical components and external-rotor motor technology and advantageous use of structural symmetry. Finite element results show the potential to deliver more than 200 Nm of continuous torque at 50 Deg/s in a package as small as a human elbow joint. With its small size and weight and its large torque output, the proposed actuator concept could benefit numerous applications, ranging from space manipulators to actuated prosthetics and medical devices.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"102 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":"125314084","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
Efficiency analysis of sinusoidal stiffness variation method for chatter suppression 正弦刚度变分法抑制颤振的有效性分析
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222723
Yuxin Sun, Z. Xiong
{"title":"Efficiency analysis of sinusoidal stiffness variation method for chatter suppression","authors":"Yuxin Sun, Z. Xiong","doi":"10.1109/AIM.2015.7222723","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222723","url":null,"abstract":"Chatter known as an unstable state, is a self-excite vibration which limits productivity of machining processes. To achieve stable machining and high productivity, chatter should be suppressed before it is fully developed. Sinusoids stiffness variation is an efficient method of chatter suppression that continuously varies the stiffness of the tool post. The frequency and the amplitude of sinusoids naturally play a critical role in the performance of chatter suppression. However, previous researches on stiffness variation are mostly qualitative based on experimental tests. Thus, this paper quantitatively investigates the effects of the frequency and the amplitude on chatter suppression from theoretical point of view. Both joint and individual effects of the frequency and the amplitude on the control efficiency are explored using semi-discretization method. The improvement of the stability limit is verified by the time response using Simulink. Moreover, the influence of the initial phase is studied and suggests the sinusoidal stiffness variation is dependent on the initial phase when the frequency is larger than 0.25 Hz.","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":"122850523","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
A soft robotic exoskeleton utilizing granular jamming 利用颗粒干扰的柔软机器人外骨骼
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222526
Elliot Thompson Bean, Oliver Steiner, A. McDaid
{"title":"A soft robotic exoskeleton utilizing granular jamming","authors":"Elliot Thompson Bean, Oliver Steiner, A. McDaid","doi":"10.1109/AIM.2015.7222526","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222526","url":null,"abstract":"This paper presents the development and design of an exoskeleton for the hand, utilising a physical phenomena known as granular jamming, where pressure within a soft membrane is varied to cause a granular material to change from a solid to fluid-like state. Experimentation and simulation is performed to discover and analyse the relationship between chamber size and the generation of resistive forces or bending stiffness, and to observe the general behaviour of granular beam systems under bending forces. A prototype was developed and tested. It was found that increasing the chamber size of a jammed granular beam increases the generated resistive forces. There also appears to be two regions of bending for a jammed granular beam identified by a change in gradient on a graph of deflection versus weight. This indicates a change in the granular structure during bending and is theorised to be caused by two mechanisms, buckling and longitudinal strain. The prototype indicates that the exoskeleton is functional and is able to stabilise the hand, but fails to provide significant force. The work done in this project can be used as a foundation for further design and investigation.","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":"131151860","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: 18
Optimizing a hemodynamic model in the human motor cortex 优化人体运动皮层的血流动力学模型
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222527
Hoang-Dung Nguyen, K. Hong
{"title":"Optimizing a hemodynamic model in the human motor cortex","authors":"Hoang-Dung Nguyen, K. Hong","doi":"10.1109/AIM.2015.7222527","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222527","url":null,"abstract":"The paper presents a method for reconstructing the impulse hemodynamic response (HR) of functional near-infrared spectroscopy (fNIRS) data measured in the motor cortex of a human brain. The empirical impulse HRs are averaged across the most active channels of nineteen healthy volunteers. The impulse HR is modeled by a state space equation in which the optimal order of this model is computed by using the Akaike information criterion. The subspace method is utilized to estimate the parameter matrices in the state space model based on the obtained fNIRS-HR to an impulse stimulus. The stability of the reconstructed HR to an impulse stimulus will be investigated. It is worthy to note that the third-order state-space equation can be utilized to describe the impulse HR of the motor cortex in generating the predicted HR to an arbitrary stimulus sequence in an online imaging.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"59 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":"121885390","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
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