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

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Force control of a 4WS4WD vehicle for path tracking 用于路径跟踪的4WS4WD车辆的力控制
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222538
Penglei Dai, J. Katupitiya
{"title":"Force control of a 4WS4WD vehicle for path tracking","authors":"Penglei Dai, J. Katupitiya","doi":"10.1109/AIM.2015.7222538","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222538","url":null,"abstract":"The aim of this paper is to develop a system where forces at the wheels of a ground vehicle are controlled to guide the vehicle along a planned path. The 7-order Bézier curves are applied to path planning and online path tracking, and used to obtain profiles of velocities and accelerations for the guidance of a 4WS4WD vehicle. The dynamic model used for force control is developed for the determination of the reference forces and steering angles at four wheels. The motion profiles obtained using the continuously updated Bézier segments are then applied to control the driving and steering motions of individual wheels. Note that this control methodology does not address the closed loop path tracking control, instead it only demonstrates the resilience of an open loop system through a vehicle design which only requires a dynamic model where the number of uncertain parameters are minimized. In future work, complementary steering control inputs will be generated through close loop path tracking control. Simulation results are provided to validate the proposed methodology.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"14 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":"128036322","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
Study on measurement free fall posture and height of a mobile device using MEMS sensors 利用MEMS传感器测量移动设备自由落体姿态和高度的研究
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222735
Gugyong Kim, Jong-Yeon Choe
{"title":"Study on measurement free fall posture and height of a mobile device using MEMS sensors","authors":"Gugyong Kim, Jong-Yeon Choe","doi":"10.1109/AIM.2015.7222735","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222735","url":null,"abstract":"The mobile device may cause damage such as circuitry, panel, glass, case by the impact caused by free fall in the user environment. The manufacturers have a tumble and drop test in order to verify the impact safety of the mobile device. In this study, the built-in mobile device magnetometer, gyroscope, accelerometer information developed by utilizing an algorithm to measure the height and the posture at the time of drop impact occurs in the tests and user environment. Falling posture measurement algorithm was validated through a high-speed camera and measured sensor data processing results compared. Drop height measurement algorithm was validated at a constant height drop tests at 50 to 130 cm.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"103 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":"132609672","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
A study of features of EEG signals during upper-limb motion 上肢运动时脑电信号特征的研究
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222660
Y. Hayashi, K. Kiguchi
{"title":"A study of features of EEG signals during upper-limb motion","authors":"Y. Hayashi, K. Kiguchi","doi":"10.1109/AIM.2015.7222660","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222660","url":null,"abstract":"A sEMG signal is useful for the control of the wearable robots because its measurement is relative-easy and the joint torque can be estimated from sEMG signals of related multiple muscles. However, estimation methods of sEMG signals are not always available for all users. On the other hand, an EEG signal is one of the biological signals which might be the substitute for a sEMG signal because an EEG signal can be measured even with persons who cannot provide some sEMG signals. In general the estimation of the user's motion-intention from EEG signals is more difficult than the estimation from sEMG signals. The robot might work against the user's motion-intention when the user does not concentrate on the control of the robot and is distracted by other things. In this paper, to estimate user's motion-intention from EEG signals, the feature of EEG signals during upper-limb motion is investigated and we estimate whether or not the user moves the upper-limb.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"216 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":"133171568","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
Transitions of three gaits in dynamic bipedal robot with adaptable joint stiffness 关节刚度自适应动态双足机器人三种步态的转换
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7248061
Yan Huang, Liyang Chen, B. Vanderborght, Qining Wang
{"title":"Transitions of three gaits in dynamic bipedal robot with adaptable joint stiffness","authors":"Yan Huang, Liyang Chen, B. Vanderborght, Qining Wang","doi":"10.1109/AIM.2015.7248061","DOIUrl":"https://doi.org/10.1109/AIM.2015.7248061","url":null,"abstract":"In this paper, we design and construct a planar dynamic bipedal walking robot with flat feet and adaptable stiffness. We employ the MACCEPA actuator, which allows independently control of joint torque and joint stiffness. Based on a gait-phase-dependent stiffness control method, the robot can realize three gaits, distinguished by the sequence of different gait events. In experiments, the performance of the three gaits are compared and gait transitions are realized by controlling joint stiffness. This study may provide insights into motion control of dynamic bipedal robots with adaptable stiffness and the principles of gait transition in bipedal walking.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"60 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":"133193227","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
Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces 入口式主接口双边远程操作系统网络构建及稳定性改进
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222796
M. Nabeel, A. Jafari, J. Ryu
{"title":"Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces","authors":"M. Nabeel, A. Jafari, J. Ryu","doi":"10.1109/AIM.2015.7222796","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222796","url":null,"abstract":"This paper introduces a network formulation of bilateral teleoperation systems with admittance-type master interfaces to improve their stability range with Time Domain Passivity Approach (TDPA). Since traditional network representation of admittance-type teleoperation was not enough to detect the active energy, a new representation of admittance-type teleoperation system is formulated, using dependent effort/flow concepts. The proposed method, allows choosing small values of inertia in admittance model, which provides high transparency in free space interaction. Using the conventional mechanical-electrical analogy, the teleoperation system is modeled in an electrical network domain. Then, passivity of admittance-type teleoperation is analyzed and the TDPA is applied to passivate the system. Experimental results verified the effectiveness of the proposed approach.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"177 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":"133689783","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
Locomotion control strategy of hydraulic lower extremity exoskeleton robot 液压式下肢外骨骼机器人运动控制策略
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222598
Hongchul Kim, C. Seo, Y. Shin, Jung Kim, Y. Kang
{"title":"Locomotion control strategy of hydraulic lower extremity exoskeleton robot","authors":"Hongchul Kim, C. Seo, Y. Shin, Jung Kim, Y. Kang","doi":"10.1109/AIM.2015.7222598","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222598","url":null,"abstract":"Soldiers often should carry heavy loads on their back for a long time during military operations. To this end, exoskeleton robots have been developed to enhance mobility and reduce the muscle fatigue caused by heavy loads. This paper presents a locomotion control strategy for a hydraulic lower extremity exoskeleton robot developed for military purposes. The robot utilized the dual-mode control scheme, which is comprised of the active control for the stance phase and the passive control for the swing phase, to achieve high walking speed in the swing phase while supporting heavy loads in the stance phase. To reduce the sudden change of the torque command at the transition from the swing phase to the stance phase, a smoothing method is adopted. We also implemented a pre-transition method to take a foot off quickly for fast walking by predicting the change from the swing to the stance in advance. The experiment results show that a wearer can walk at a speed of up to 4 km/h on a treadmill with a 45 kg backpack load.","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":"134119174","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: 17
Low-order feedforward control schemes for flexible motion systems with different rigid-body damping 不同刚体阻尼柔性运动系统的低阶前馈控制方法
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222728
Xiaocong Li, Silu Chen, C. Teo, K. Tan
{"title":"Low-order feedforward control schemes for flexible motion systems with different rigid-body damping","authors":"Xiaocong Li, Silu Chen, C. Teo, K. Tan","doi":"10.1109/AIM.2015.7222728","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222728","url":null,"abstract":"Lightweight stages are becoming the new trend in industrial high performance motion systems. They are generally less stiff than the traditional designs and more pronounced resonant dynamics usually appear in low frequency region. Control design methods to deal with these flexible modes effectively are known as the Beyond Rigid Body (BRB) control. In high performance tracking control, such as wafer scanning and lithography, feedforward control is widely used to improve their tracking accuracy. In this paper, novel feedforward controllers are proposed to reduce tracking error of light-weight motion systems with presence of different rigid-body damping. Their performances are then compared with the traditional rigid body feedforward controller as well as the recently proposed snap feedforward controller to show the advantages.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"118 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":"134541297","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
Pose estimation and 3D environment reconstruction using less reliable depth data 姿态估计和三维环境重建使用不太可靠的深度数据
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222558
Sungjin Jo, HyungGi Jo, H. Cho, Euntai Kim
{"title":"Pose estimation and 3D environment reconstruction using less reliable depth data","authors":"Sungjin Jo, HyungGi Jo, H. Cho, Euntai Kim","doi":"10.1109/AIM.2015.7222558","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222558","url":null,"abstract":"Pose estimation and 3D reconstruction of environment are essential technics in robotics and computer vision. In this paper we present a method for camera tracking and 3D reconstruction of static environments, using a ToF sensor which provides less reliable depth information. Based on a primary camera pose, we eliminate outlier in distance measurements. Subsequently, we estimate camera pose again using only inlier data. A voxel grid map is updated by integrating depth measurement with a truncated signed distance function. It is represented as 3D environment reconstruction. Our method is an attractive extending of the pose estimation in outdoor environment. In outdoor environment, 3D range cameras cannot measure the distance or they provide inaccurate distance measurement. The experiments were carried out both in indoor and outdoor and we analyze the results of the proposed methods which use a ToF camera in comparison with a previous approach.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"19 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114030335","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
A Concept for a robot arm with adjustable series clutch actuators and passive gravity compensation for enhanced safety 一种具有可调系列离合器致动器和被动重力补偿以增强安全性的机器人手臂的概念
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222722
A. Schmitz, Soumya Bhavaraju, S. Somlor, Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Wei Wang, S. Sugano
{"title":"A Concept for a robot arm with adjustable series clutch actuators and passive gravity compensation for enhanced safety","authors":"A. Schmitz, Soumya Bhavaraju, S. Somlor, Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Wei Wang, S. Sugano","doi":"10.1109/AIM.2015.7222722","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222722","url":null,"abstract":"Passive compliance is useful for robotic arms to ensure their safety. Often springs are used, but they are problematic because they reduce the achievable accelerations and can lead to underdamped oscillations. Torque limiters enhance the safety, but usually the torque limit cannot be adjusted to a desired torque. Electronically adjustable torque limiters, also known as series clutch actuators, have several benefits, especially for robotic arms, but they also have severe limitations. This paper suggests incorporating series clutch actuators into a gravity compensated arm. Consequently, gravity should not limit the isotropically achievable force anymore and in the case of power outage the arm keeps its position. The benefits and limitations of a series clutch actuator in a gravity compensated arm are discussed, and a prototype of such an arm is presented. Commercially available magnetic friction clutches are used. Preliminary experiments demonstrate that the safety can be increased.","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":"115534136","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
Research on the medical Nd:YAG laser power system using LLC resonant converter 基于LLC谐振变换器的医用Nd:YAG激光电源系统研究
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222789
Tao Zheng, Hee-je Kim
{"title":"Research on the medical Nd:YAG laser power system using LLC resonant converter","authors":"Tao Zheng, Hee-je Kim","doi":"10.1109/AIM.2015.7222789","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222789","url":null,"abstract":"In this paper, we designed a LLC resonant converter as the main power supply of the medical Nd:YAG laser. First harmonic approximation (FHA) is used to model the LLC resonant converter. FHA equivalent circuit model and the transfer function of the LLC converter is proposed. Soft start technology is used to suppress the surge current. The laser output is simulated and experimented, the pulse laser energy is up to 2.5J, and the pulse per second (PPS) can be adjusted from 6 to 18. The power system is verified stable and reliable by simulation and experiment.","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":"115676859","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
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