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2022 25th International Conference on Mechatronics Technology (ICMT)最新文献

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Nonlinear Model Predictive Control for Autonomous Flight of Aircrafts 飞行器自主飞行的非线性模型预测控制
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/ICMT56556.2022.9997639
Hironori Masaoka, T. Hashimoto
{"title":"Nonlinear Model Predictive Control for Autonomous Flight of Aircrafts","authors":"Hironori Masaoka, T. Hashimoto","doi":"10.1109/ICMT56556.2022.9997639","DOIUrl":"https://doi.org/10.1109/ICMT56556.2022.9997639","url":null,"abstract":"Autonomous flight systems are expected to be used for aircraft flight control. Aircrafts are dynamical systems that contain a variety of nonlinearities and constraints. Model predictive control is a type of optimal feedback control in which the control performance over a finite future is optimized and its performance index has a moving initial time and a moving terminal time. Nonlinear model predictive control method is known as one of the most successful control methodologies because it enables control performance to be optimized while taking nonlinearities and constraints into account. This study focuses on the control design problem of aircraft flight dynamics. The objective of this study is to propose a model predictive control for autonomous flight of aircrafts. This paper provides a numerical solution method based on so-called C/GMRES algorithm to solve the model predictive control problem for autonomous flight of aircrafts. The effectiveness of the proposed method is verified by numerical simulations.","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126433647","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
A computer-vision-aided quality control measuring system 计算机视觉辅助质量控制测量系统
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/ICMT56556.2022.9997686
Bor-Tsuen Lin, C. Chang, Chun-Chih Kuo, Bo-Yun Hou
{"title":"A computer-vision-aided quality control measuring system","authors":"Bor-Tsuen Lin, C. Chang, Chun-Chih Kuo, Bo-Yun Hou","doi":"10.1109/ICMT56556.2022.9997686","DOIUrl":"https://doi.org/10.1109/ICMT56556.2022.9997686","url":null,"abstract":"During the rapid change to Industry 4.0, the importance of data collection has become one of the affecting factors. Monitoring and failure prediction can be conducted by executing data collection during quality control. However, the costs of using dedicated sensors and instruments for data collection are hardly acceptable for SMEs during industry 4.0 transformation. The paper proposed a computer-vision-aided quality control measurement system consisting of a computer vision module, wireless measurement instrument, measurement/data collection module, and database. In the quality control process, the data is collected through wireless measurement instrument and measurement/data collection module, and the computer vision module confirms the data’s correctness. Finally, all data is stored in the database for data connection with other applications.","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121282550","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
EOD robot mechatronic modelling and trajectory optimization through Chebyshev polynomials 基于切比雪夫多项式的排爆机器人机电建模与轨迹优化
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/ICMT56556.2022.9997625
A. Senatore, Giuseppe Ventura
{"title":"EOD robot mechatronic modelling and trajectory optimization through Chebyshev polynomials","authors":"A. Senatore, Giuseppe Ventura","doi":"10.1109/ICMT56556.2022.9997625","DOIUrl":"https://doi.org/10.1109/ICMT56556.2022.9997625","url":null,"abstract":"The present work analyses, models and simulates through multibody software the behaviour of EOD (Explosive Ordnance Disposal) robot in order to identify its performances and to optimise them. Firstly, the direct and inverse kinematics has been studied by using the Denavit-Hartenberg notation, focusing on the EOD manipulator. Subsequently, the robot trajectories formulated as linear combination of the Chebyshev polynomials were optimised to reduce the overall energy required to perform the required task. After modelling the electric motors driving the robot actuators and their PI controllers in Simulink, these outcomes have been imported in ADAMS through to take into account the electro-mechanical behaviour of the actuators.","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"261 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122762662","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
ICMT 2022 Cover Page ICMT 2022封面
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/icmt56556.2022.9997626
{"title":"ICMT 2022 Cover Page","authors":"","doi":"10.1109/icmt56556.2022.9997626","DOIUrl":"https://doi.org/10.1109/icmt56556.2022.9997626","url":null,"abstract":"","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128372981","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
Prototyping and Demonstration of a Cloud-based AI Smart Plug System 基于云的AI智能插头系统的原型设计和演示
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/ICMT56556.2022.9997688
Zuo-Ren Chen, Chun-Fu Chen, Sin-Yu Huang, Yungao Huang, Rongshun Chen
{"title":"Prototyping and Demonstration of a Cloud-based AI Smart Plug System","authors":"Zuo-Ren Chen, Chun-Fu Chen, Sin-Yu Huang, Yungao Huang, Rongshun Chen","doi":"10.1109/ICMT56556.2022.9997688","DOIUrl":"https://doi.org/10.1109/ICMT56556.2022.9997688","url":null,"abstract":"In this work, a cloud-based smart plug system integrated with artificial intelligence (AI) technology is prototyped and demonstrated. It exploits extra advanced information from plugged house appliances, compared to conventional smart plug products. An Internet of Things (IoT) smart plug printed circuit board (PCB), which is small enough to fit into a household plug outlet, is designed in-house. There are two main components connected to an ESP8266 microcontroller: a relay to control the power outlet and a non-intrusive current sensor to monitor power load. To take real-world application into consideration, the software is built on Google Cloud Platform (GCP) with event-driven architecture (EDA). Such architecture provides scalability, increases agility, and reduces cost. IoT devices are communicated through MQTT protocol on WiFi. Machine learning (ML) techniques are used to process the collected power load data. Thus, several different pieces of information about the plugged appliances can be acquired, such as malfunction detection, operation status identification, and completion time estimation. Edge AI technique is also experimented by executing the trained neural network (NN) model on a STM32F7 microcontroller. Finally, user interface (UI) of the system can provide functions including remote control and notification for the information of plugged appliances.","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116962334","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
Improved Trigger Time of Force Sensorless Power-Assisted System based on Fuzzy Logical Strategy and EMG Signal 基于模糊逻辑策略和肌电信号的无力传感器助力系统触发时间改进
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/ICMT56556.2022.9997652
Po-Wen Hsueh, Tien-Min Kao, Jian-Hua Wu, Tung-Kuan Liu
{"title":"Improved Trigger Time of Force Sensorless Power-Assisted System based on Fuzzy Logical Strategy and EMG Signal","authors":"Po-Wen Hsueh, Tien-Min Kao, Jian-Hua Wu, Tung-Kuan Liu","doi":"10.1109/ICMT56556.2022.9997652","DOIUrl":"https://doi.org/10.1109/ICMT56556.2022.9997652","url":null,"abstract":"This paper aims to enhance the trigger time of the force sensorless power-assisted system based on fuzzy logical design and electromyogram (EMG) sensing information. The disturbance observer integrated into power-assisted systems is a recently conventional method for developing the force sensorless power-assisted system (PAS). However, the behavior of conventional observer algorithm is alike low-pass filter, perhaps the time-delay is occurred by the observer algorithm. Hence, the improved trigger time of the force sensorless power-assisted system based on the fuzzy logical strategy and EMG signal has been proposed to treat the time delay of a force sensorless PAS. The Slope Sign Changes algorithm is utilized for processing EMG signals and extracting the feature of the EMG sensing information. Further, the fuzzy logic model is appropriately designed to integrate with EMG signal and disturbance observer. Experimental results show that the presented method can properly reduce time-delay of a force sensorless PAS according to the proposed fuzzy logic strategy with EMG signals.","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116841025","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
A lightweight design of 5G private network with edge computing 基于边缘计算的5G专用网轻量化设计
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/ICMT56556.2022.9997658
Chuan-Sheng Lin
{"title":"A lightweight design of 5G private network with edge computing","authors":"Chuan-Sheng Lin","doi":"10.1109/ICMT56556.2022.9997658","DOIUrl":"https://doi.org/10.1109/ICMT56556.2022.9997658","url":null,"abstract":"The 5G private networks had been a popular technology in industry applications. There are many solutions for edge computing in 5G private network. But the cost and complexity of system are very high. These solutions are not suitable for simple scenarios. In this paper, we proposed a lightweight architecture of 5G private network with edge computing. The industries can use the architecture to build a un-complexity and easy maintain 5G service for manufacturing automation, etc.","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128960090","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 New LMI-Based Non-Iterative Design Method for Static Output Feedback Controllers for Linear Systems 基于lmi的线性系统静态输出反馈控制器非迭代设计新方法
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/ICMT56556.2022.9997727
H. Oya, Satoshi Hayakawa, Shunya Nagai, K. Nakano
{"title":"A New LMI-Based Non-Iterative Design Method for Static Output Feedback Controllers for Linear Systems","authors":"H. Oya, Satoshi Hayakawa, Shunya Nagai, K. Nakano","doi":"10.1109/ICMT56556.2022.9997727","DOIUrl":"https://doi.org/10.1109/ICMT56556.2022.9997727","url":null,"abstract":"This paper presents a new non-iterative LMI-based design method for static output feedback controllers for linear systems. The proposed design method is derived from the well-known necessary and sufficient condition for the existence of the static output feedback control for linear systems. In this paper, we show the new non-iterative LMI-based design procedure for static output feedback controllers for linear systems, and the effectiveness of the proposed controller design approach is shown through a simple numerical example.","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122531838","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
Evaluating Operationality of Human Interfaces with Reaction Force Control Using DP Matching 用DP匹配评价反作用力控制人机界面的可操作性
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/ICMT56556.2022.9997717
Kairi Morita, S. Katsura
{"title":"Evaluating Operationality of Human Interfaces with Reaction Force Control Using DP Matching","authors":"Kairi Morita, S. Katsura","doi":"10.1109/ICMT56556.2022.9997717","DOIUrl":"https://doi.org/10.1109/ICMT56556.2022.9997717","url":null,"abstract":"Japan has a problem that the technique of the expert will be lost in recent year. Aging population causes a decrease in the talented person for inheriting the skills of the experts. In the conventional studies, the motion-copying system or bilateral system can save and reproduce the technique of the experts. However, there is a problem of the operationality. In these systems, the operator cannot operate the system as desired, because the inertia of the manipulator has a significant impact on the operationality. To solve this problem, we propose a new reaction force control system. Also, Dynamic Programming is used to demonstrate the usefulness of the proposed method and compare the proposed, conventional system, and no manipulator.","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125918467","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
Extended State Observer Based Sliding Mode Control For 6 DOF Manipulator With Lumped Uncertainties 基于扩展状态观测器的集总不确定性6自由度机械臂滑模控制
2022 25th International Conference on Mechatronics Technology (ICMT) Pub Date : 2022-11-18 DOI: 10.1109/ICMT56556.2022.9997714
D. Tran, Hai Ninh Tong, Minh Phuc Tran, Thanh Binh Ha, N. Hung, K. Ahn
{"title":"Extended State Observer Based Sliding Mode Control For 6 DOF Manipulator With Lumped Uncertainties","authors":"D. Tran, Hai Ninh Tong, Minh Phuc Tran, Thanh Binh Ha, N. Hung, K. Ahn","doi":"10.1109/ICMT56556.2022.9997714","DOIUrl":"https://doi.org/10.1109/ICMT56556.2022.9997714","url":null,"abstract":"This paper proposes an active disturbance rejection control (ADRC) for a 6-DOF manipulator with the model uncertainties and external disturbances. The proposed control is developed based on the sliding mode control (SMC) and the extended state observer (ESO). The SMC in the suggested control ensures that the tracking problem is solved and that the manipulators have quick reactions. The ESO estimates not only the change values but also uncertainties in the model. Based on those advantages, the proposed method does not only estimate the lumped uncertainties but also compensates control signals for improving the tracking issue. A Lyapunov approach is investigated to analyze the stability and robustness of the whole system. Finally, the proposed control is applied for the 6-DOF manipulator on MATLAB/Simulink to prove its effectiveness.","PeriodicalId":217521,"journal":{"name":"2022 25th International Conference on Mechatronics Technology (ICMT)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128003173","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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