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

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Research on harmonic compensation for flux and current of permanent magnet synchronous motor 永磁同步电机磁链和电流的谐波补偿研究
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222600
Jun Lu, Jian-guo Yang, Y. Ma
{"title":"Research on harmonic compensation for flux and current of permanent magnet synchronous motor","authors":"Jun Lu, Jian-guo Yang, Y. Ma","doi":"10.1109/AIM.2015.7222600","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222600","url":null,"abstract":"High order harmonic flux and current of permanent magnet synchronous motor (PMSM) are generated by the distortion of air-gap magnetic field and the nonlinear characteristics of inverter, resulting in the ripple of electromagnetic torque. In this paper, a novel harmonic compensation algorithm was proposed to solve this problem. Based on the harmonic model of the PMSM, harmonic voltage is injected to reduce harmonic components of the motor flux and current. By extraction of harmonic flux/current and injection of harmonic voltage in real-time, high-order harmonics of flux generated by the distortion of air-gap magnetic field and the nonlinear characteristics of inverter is counteracted. Thereby, distortion of motor current is reduced. The effectiveness of the algorithm is validated by simulation and experimentation.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"9 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":"114146515","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
Autonomous formation selection for ground moving multi-robot systems 地面移动多机器人系统的自主编队选择
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222508
Shuang Yu, J. C. Barca
{"title":"Autonomous formation selection for ground moving multi-robot systems","authors":"Shuang Yu, J. C. Barca","doi":"10.1109/AIM.2015.7222508","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222508","url":null,"abstract":"Multi-robot systems have many useful real world applications including disaster management, exploration and surveying. Formation control is critical in these contexts as the success of groups often depend on the ability to generate and maintain particular formation shapes. It is also important that a multi-robot system can evaluate and select appropriate alternative formations when an ideal formation cannot be upheld, particularly in dynamic real world scenarios. A distributed formation selection mechanism that addresses these issues by enabling groups of unmanned ground vehicles to autonomously select, scale and morph formation shapes when navigating through dynamic environments is presented in this paper. Experiments on non-holonomic ground moving robots demonstrate the suitability of the proposed technology.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"53 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":"114165613","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: 16
Incremental sheet forming of aluminum with warm 渐进式铝板加热成形
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222637
P. J. Silva, A. Alvares
{"title":"Incremental sheet forming of aluminum with warm","authors":"P. J. Silva, A. Alvares","doi":"10.1109/AIM.2015.7222637","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222637","url":null,"abstract":"This article aims to present a preliminary study of single point incremental sheet forming (SPIF) with warm for aluminum sheet of 1 millimeter (mm) thickness, with a propose of evaluate the contribution of adding heat for the process and even, how to reduce the processing time. For this evaluation was compared the dimensional errors between the pieces formed by the process with warm and without warm. More favorable results are presented for the SPIF with warm.","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":"114196080","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
Machine assisted manual torch operation in gas tungsten arc welding process 在钨气弧焊过程中，机器辅助人工焊枪操作
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222750
N. Huang, Shujun Chen, Yuming Zhang
{"title":"Machine assisted manual torch operation in gas tungsten arc welding process","authors":"N. Huang, Shujun Chen, Yuming Zhang","doi":"10.1109/AIM.2015.7222750","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222750","url":null,"abstract":"Skills possessed by human welders typically require a long time to develop. Especially, maintaining the torch to travel in desired speed is challenging. In this paper, a feedback control system is designed and implemented to assist the welder to adjust the torch movement for the desired speed in manual gas tungsten arc welding (GTAW) process. To this end, an innovative helmet based manual welding platform is proposed and developed. In this system, vibrators are installed on the helmet to generate vibration sounds to instruct the welder to speed or slow down the torch movement. The torch movement is monitored by a leap motion sensor. The torch speed is used as the feedback for the control algorithm to determine how to change the vibrations. To design the control algorithm, dynamic experiments are conducted to correlate the arm movement (torch speed) to the vibration control signal. Linear model is firstly identified using standard least squares method, and the model is analyzed. A nonlinear Adaptive Neuro-Fuzzy Inference System (ANFIS) model is then proposed to improve the modeling performance. The resultant nonlinear ANFIS model can estimate the welder's response on the welding speed with acceptable accuracy. Based on the response model, a PID control algorithm has been designed and implemented to control the welder arm movement for desired torch speed. Experiments verified the effectiveness of the system for the desired speed with acceptable accuracy.","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":"114740922","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
Analytical modeling of piezoelectric charge gated thin film transistor for force sensing and energy harvesting 用于力传感和能量采集的压电电荷门控薄膜晶体管的解析建模
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222555
Weiwei Li, J. Weldon, Kai Wang
{"title":"Analytical modeling of piezoelectric charge gated thin film transistor for force sensing and energy harvesting","authors":"Weiwei Li, J. Weldon, Kai Wang","doi":"10.1109/AIM.2015.7222555","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222555","url":null,"abstract":"This paper addresses a novel electronic device that works in force sensing and energy harvesting dual modes. It combines a dual-gate thin film transistors (TFT) and a thin film piezoelectric material. In force sensing mode, the thin piezoelectric film is placed atop TFT and works as a top gate. That top gate voltage which is induced by the applied force will affect the output current of TFT. An analytical model is given to elaborate how output current varies with applied force. Energy harvesting mode can be achieved by simply connecting the top, bottom gates and the drain terminals that will make TFT work in the saturation region without any other external power supply. A detailed analysis on working principle and numerical study is conducted to evaluate its theoretical energy generation in one cycle with various forces.","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":"115794315","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
A hierarchical topological planner for multi-storey building navigation 多层建筑导航的分层拓扑规划
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222624
Qun Zhang, Xiaojun Wu, Bingbing Liu, A. H. Adiwahono, Tran Anh Dung, T. W. Chang
{"title":"A hierarchical topological planner for multi-storey building navigation","authors":"Qun Zhang, Xiaojun Wu, Bingbing Liu, A. H. Adiwahono, Tran Anh Dung, T. W. Chang","doi":"10.1109/AIM.2015.7222624","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222624","url":null,"abstract":"In this paper, we present a hierarchical path planner for autonomous navigation of a tracked robot in buildings that have multiple storeys. The planner utilizes a multiple layered topological map that integrates both topological and metrical information to represent the multi-storey environment, which allows the robot to navigate between different storeys of the building efficiently while avoiding dynamic obstacles on the way. The high semantic levels of the map represent semantic places or areas while the low level metric graph is created on top of an occupancy grid, where the topological nodes serve as waypoints that assist the robot in the path planning. Based on the graph, the mission planner plans tasks hierarchically and each of the executing tasks is implemented as an active state in a Finite State Machine (FSM) to control the robot to complete the tasks. Simulations and realistic experiments have demonstrated the effectiveness of the proposed planner for multi-storey building navigation.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"259 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":"116234062","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
Development of a multimodal biofeedback system for balance training 用于平衡训练的多模态生物反馈系统的开发
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222612
M. R. Afzal, Min-Kyun Oh, Jungwon Yoon
{"title":"Development of a multimodal biofeedback system for balance training","authors":"M. R. Afzal, Min-Kyun Oh, Jungwon Yoon","doi":"10.1109/AIM.2015.7222612","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222612","url":null,"abstract":"Biofeedback based exercises results in post-training improvements of postural stability. Various modalities have been used to provide a biofeedback system for training of balance control and postural stability. However a multimodal biofeedback system can offer more individualized training methods and hence provide therapists with a comprehensive solution for diverse patients. Individually, visual and haptic biofeedback has been identified as effective to reduce body sway in patients suffering from balance. So we have developed a novel multimodal system which provides biofeedback with both visual and haptic modality. Our system features a waist-attached smartphone, software running on a computer, a dedicated monitor for visual biofeedback and a dedicated Phantom Omni® device for haptic biofeedback. Experimental trials conducted with young healthy subjects demonstrate the effectiveness of the biofeedback system. The results indicate that a multimodal biofeedback system is found to be more effective in comparison with lone biofeedback of visual or haptic modality.","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":"123736345","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
DIDIM-CLIE method for dynamic parameter identification of flexible joint robots 柔性关节机器人动态参数辨识的DIDIM-CLIE方法
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222536
A. Jubien, M. Gautier, A. Janot
{"title":"DIDIM-CLIE method for dynamic parameter identification of flexible joint robots","authors":"A. Jubien, M. Gautier, A. Janot","doi":"10.1109/AIM.2015.7222536","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222536","url":null,"abstract":"This paper deals with a new CLIE (Closed Loop Input Error) method for dynamic identification of flexible joint robots. This is a straightforward extension of the DIDIM (Direct and Inverse Dynamic Identification Models) method from rigid robots to flexible joint robots. DIDIM is a fast closed loop input error method which minimizes the quadratic error between the actual motor force/torque (the control input) and the simulated one. This method which does need neither joint position, nor velocity nor acceleration is particularly attractive to identify flexible manipulators where data of flexible degree of freedom are not available at all. This paper shows how to easily choose good initial values based on mechanical design of joint transmission to apply DIDIM method to flexible joint manipulators. This is a dramatic improvement of our former three-step method which allows a one-step procedure with faster convergence thanks to the clever initialization. An experimental validation on a flexible joint robot and a comparison with the previous three-step procedure shows the effectiveness of the new method.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"66 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":"122044760","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
Optimization design of a novel closed-loop spray cooling system 新型闭环喷雾冷却系统的优化设计
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222552
Hongsheng Zhang, Yunze Li, Yufeng Mao, Shaoping Tian, Yang Liu, Liman Yang
{"title":"Optimization design of a novel closed-loop spray cooling system","authors":"Hongsheng Zhang, Yunze Li, Yufeng Mao, Shaoping Tian, Yang Liu, Liman Yang","doi":"10.1109/AIM.2015.7222552","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222552","url":null,"abstract":"Due to the superiority of spray cooling system in removing high waste heat flux generated by the electronics, a novel spray cooling system combined with ejective condenser is proposed and its work procedure is introduced. Most previous relevant studies are only focus on the influences of parameters on the spray cooling performance. In the present paper, a multi-objective optimization function on the overall system is provided through the analysis of fluid flow and heat transfer characteristics, and the Particle Swarm Optimization (PSO) is applied to solve this problem. The optimized results of the total mass, the total pump power consumption and the heat surface temperature are obtained at different heat power. The optimal system structure parameters of the sprayer, the ejective condenser, the radiator are obtained. The work conditions of the sprayer mass flow and the heat surface temperature are also got under the performance of minimum power consumption, minimum system mass and the lowest heat source temperature at heat source power 500 W (heat flux 500 W/cm2).","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"105 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":"124218069","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
Application of particle swarm optimization for tuning the SVR parameters 粒子群算法在SVR参数整定中的应用
2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222697
Xinqing Wang, Juan Gao
{"title":"Application of particle swarm optimization for tuning the SVR parameters","authors":"Xinqing Wang, Juan Gao","doi":"10.1109/AIM.2015.7222697","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222697","url":null,"abstract":"The prediction of finger pinch force via surface electromyography (sEMG) signals is important in bionic control area. The purpose of this paper was to study how to improve the prediction accuracy while using support vector regression (SVR) to predict the pinch force. Four healthy subjects performed constant-posture force-varying pinch operations. The sEMG signal was acquired using two electrodes while the force signal was recorded by a JR3 sensor. The time domain feature of sEMG and the force signal were then applied as the input of the SVR model. In order to improve the prediction accuracy, the parameters of SVR model were optimized by applying particle swarm optimization (PSO) algorithm. The relative mean square error (RMSE), correlation coefficients (CC), and mean average error (MAE) were calculated as the criteria. The results show that the predicted force is close to the real pinch force by SVR modeling technique. The RMSE results are below 8% and the CC results are above 96% with 4 subjects. Compared with the grid search (GS) method, the PSO-SVR achieves a tradeoff between the accuracy and the computational costs with different kinds of training data.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"41 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":"125561857","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
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