IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society最新文献_第4页

Robust force control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer 基于滑模控制和扰动观测器的串联弹性作动器鲁棒力控制

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7792991

E. Sariyildiz, Haoyong Yu, T. Nozaki, T. Murakami

{"title":"Robust force control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer","authors":"E. Sariyildiz, Haoyong Yu, T. Nozaki, T. Murakami","doi":"10.1109/IECON.2016.7792991","DOIUrl":"https://doi.org/10.1109/IECON.2016.7792991","url":null,"abstract":"In this paper, a new robust force controller is proposed for Series Elastic Actuators (SEAs) by using conventional Sliding Mode Control (SMC) and Disturbance Observer (DOb). The position measurement of the actuator's link is subtracted from the desired deflection of the spring so that the force control goal is defined as the desired position of the motor; i.e., the force control is simply performed by designing a position controller at motor side. However, the position accuracy of the motor is influenced by the dynamics of the actuator and environment. Since they cannot be easily identified in practice, the dynamics of the actuator's link and environment are considered as unknown disturbances in the design of the proposed controller. In order to improve the robustness, conventional SMC-based robust force controller is designed without considering the unknown disturbances. Although the robust force control can be theoretically performed by using the conventional SMC-based controller, it suffers from chattering in real implementations. Conventional DOb-based robust motion controller is designed at motor side so that not only the disturbances are cancelled by feeding-back their estimations but also the control signal of SMC-based robust force controller is lowered. Hence, a simple yet efficient robust force controller is designed for SEAs. The validity of the proposed robust force controller is verified by giving experimental results.","PeriodicalId":247794,"journal":{"name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","volume":" 26","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120834313","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

Classification of age groups using walking data obtained from a Laser Range Scanner 使用激光测距扫描仪获得的行走数据对年龄组进行分类

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7793200

Shiori Sakai, Sumire Kimura, Daiki Nomiyama, Takamasa Ikeda, N. Matsuhira, Yuka Kato

{"title":"Classification of age groups using walking data obtained from a Laser Range Scanner","authors":"Shiori Sakai, Sumire Kimura, Daiki Nomiyama, Takamasa Ikeda, N. Matsuhira, Yuka Kato","doi":"10.1109/IECON.2016.7793200","DOIUrl":"https://doi.org/10.1109/IECON.2016.7793200","url":null,"abstract":"We have studied a dialog control method for interface robots by using location data of persons measured by a Laser Range Scanner as a human-robot interaction technology. In the method, we measured the distance between a sensor and a person with the sensor placed at human waist height as a time series data and estimated the position coordinates of the person at a time as a probability distribution. This paper extends the scheme and proposes a method estimating person attributes in addition to the location data by monitoring the movement of legs while the person is walking. As for person attributes, we focus on the age and classify persons as the elderly and the young. At that time, we construct a prediction model of age groups based on machine learning mechanisms. In this paper, we use seven feature values, these are the step length, the step width, the velocity of leg 1, the velocity of leg 2, the velocity of body, the acceleration of leg 1 and the acceleration of leg 2 for the model. By conducting experiments, we verify that classification accuracy improves particularly using acceleration and standard deviation of the data.","PeriodicalId":247794,"journal":{"name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122871892","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

Performance evaluation of TCP/IP over time-division multiplexing Ethernet TCP/IP在时分多路以太网上的性能评估

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7793998

Kana Otawara, Masaaki Yamamoto, T. Yakoh

{"title":"Performance evaluation of TCP/IP over time-division multiplexing Ethernet","authors":"Kana Otawara, Masaaki Yamamoto, T. Yakoh","doi":"10.1109/IECON.2016.7793998","DOIUrl":"https://doi.org/10.1109/IECON.2016.7793998","url":null,"abstract":"S-TDMA is a concept to realize coexistence of RT (real-time) and non-RT traffic over switched Ethernet by separating them in a time-slot basis. Theoretically, coexistence is achieved even in multi-hop network if precise time synchronization among the all nodes on its communication path. However, since it is technically difficult, the construction of wide-area S-TDMA network was not yet achieved. This paper implemented S-TDMA switch on NetFPGA-1G-CML board with 1 Gbps Ethernet PHY, newly adding a few nanoseconds-level time synchronization and change-mode mechanism to the previously presented implementation. Remarkably, this implementation enabled to examine the degree of throughput deterioration of non-RT with change-mode in one S-TDMA switch. Previous works regarding S-TDMA switch have never researched this issue. From the result of 1 ms period, TCP throughput was 14:65 Mbps when non-RT time-slot occupies 90% of each period. It was the worst value and only 4% of the result when non-RT time-slot occupies 100%. Such value is considered not practical if S-TDMA network is constructed in the real Internet infrastructure. Thus, further approaches to enhance TCP performance are discussed.","PeriodicalId":247794,"journal":{"name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121791843","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

Analysis of dual-mode wireless power transfer with two frequencies 两种频率的双模无线电力传输分析

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7793394

Akihito Beppu, S. Katsura

引用次数: 0

An approach to categorization analysis for human motion by Kinect and IMU 基于Kinect和IMU的人体运动分类分析方法

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7793391

Seonghye Kim, T. Nozaki, T. Murakami

引用次数: 4

Full virtualization on low-end hardware: A case study 低端硬件上的完全虚拟化:一个案例研究

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7794064

A. Carvalho, V. Silva, Francisco Afonso, P. Cardoso, J. Cabral, M. Ekpanyapong, S. Montenegro, A. Tavares

引用次数: 6

Model predictive control of five-level H-bridge neutral-point-clamped qZS inverter 五电平h桥中性点箝位qZS逆变器的模型预测控制

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7793689

S. Bayhan, P. Kakosimos, H. Abu-Rub, José R. Rodríguez

引用次数: 19

Object tracking system by integrating multi-sensored data 集成多传感器数据的目标跟踪系统

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7793355

K. Murakami, Tokuo Tsuji, T. Hasegawa, R. Kurazume

引用次数: 3

A simple modulation strategy for a Flying Capacitor converter using predictive control 一种基于预测控制的飞电容变换器的简单调制策略

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7793327

Margarita Norambuena, P. Lezana, José R. Rodríguez

引用次数: 2

Cooperation control of ITP with human based inertial measurement unit ITP与人用惯性测量装置的协同控制

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2016-12-21 DOI: 10.1109/IECON.2016.7793773

Ryo Hanaoka, T. Nozaki, T. Murakami

引用次数: 1