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Mobile robot GPS/DR integrated navigation positioning technique research 移动机器人GPS/DR组合导航定位技术研究
ICMIT: Mechatronics and Information Technology Pub Date : 2009-12-19 DOI: 10.1117/12.858570
Yuanliang Zhang, K. Chong
{"title":"Mobile robot GPS/DR integrated navigation positioning technique research","authors":"Yuanliang Zhang, K. Chong","doi":"10.1117/12.858570","DOIUrl":"https://doi.org/10.1117/12.858570","url":null,"abstract":"GPS is widely used for global positioning system. But GPS signal is easily interrupted when it is used alone. DR (dead reckoning) can calculate the position of mobile robots by using direction and speed sensors. However, DR system error can accumulate over time due to the error of electronic compass and odometer sensors. So DR system can't be used separately for a long time. The integrated navigation system combined GPS with DR will effectively integrated advantages of these two systems, higher positioning precision and reliability. In this paper Kalman filter model for GPS/DR integrated navigation system is set up to filter the GPS and DR data. And then the outputs of Kalman filter are inputted to a BP neural network for training. BP neural network is employed to predict next sampling time GPS output and a new Kalman filter based data fusion method is proposed to do the navigation information fusion with encoders and compass system. Simulation is done to validate the proposed fusion method. The simulation result shows the potential of this fusion method for outside used mobile robot navigation. Finally experiments are done to validate the proposed fusion method.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123021963","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
Safe and comfortable assistance for elderly during lie-to-sit transition 在从躺到坐的过渡过程中为老年人提供安全舒适的帮助
ICMIT: Mechatronics and Information Technology Pub Date : 2009-12-19 DOI: 10.1117/12.858571
A. Pervez, J. Ryu
{"title":"Safe and comfortable assistance for elderly during lie-to-sit transition","authors":"A. Pervez, J. Ryu","doi":"10.1117/12.858571","DOIUrl":"https://doi.org/10.1117/12.858571","url":null,"abstract":"While assisting elderly in mobility tasks (such as walking, sit-to-stand, and lie-to-sit etc.) the elderly and robots work cooperatively and remain in continuous physical contact during the task. In order to realize a safe and comfortable assistance to elderly, the natural motion patterns of the elderly during a particular task should be respected and augmented by the robot. This paper is focused on designing robot motion paths that accommodate the natural movement patterns of elderly and are based on modeling the caregivers' actions reported in the biomechanics and elder-care literature. As an example, one such motion path for lie-to-sit and sit-to-stand activities is implemented on SpiderBot-II and experimental results are reported in the paper. Proposed motion path is compared with conventional motion path by evaluating through quantitative safety and comfort indices for mobility assistance robots.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123595042","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
Developmental tendency of hearing aid semi-auto-manufacturing 助听器半自动化制造的发展趋势
ICMIT: Mechatronics and Information Technology Pub Date : 2009-12-19 DOI: 10.1117/12.858060
S. Jarng, Y. Lee
{"title":"Developmental tendency of hearing aid semi-auto-manufacturing","authors":"S. Jarng, Y. Lee","doi":"10.1117/12.858060","DOIUrl":"https://doi.org/10.1117/12.858060","url":null,"abstract":"What's the developmental tendency of the hearing aid manufacturing in the future? The answer is a rapid production or/and CAD/CAM technology. The new technology is quite different from the conventional manufacturing method. This article shows the differences between the 2 types of approach in detail, and analyzes these differences. The authors figure out where and how to cut an ear shell impression that will give help to the hearing aid manufacturing process, and make the CAD/CAM method to fit for the Asians' ears.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"7500 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130427516","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
An improved sliding mode control method for omnidirectional mobile robots based on motion characteristics 基于运动特性的全向移动机器人改进滑模控制方法
ICMIT: Mechatronics and Information Technology Pub Date : 2009-12-19 DOI: 10.1117/12.858182
Chuntao Leng, Q. Cao, Charles Lo
{"title":"An improved sliding mode control method for omnidirectional mobile robots based on motion characteristics","authors":"Chuntao Leng, Q. Cao, Charles Lo","doi":"10.1117/12.858182","DOIUrl":"https://doi.org/10.1117/12.858182","url":null,"abstract":"An improved sliding mode control (SMC) method for omni-directional mobile robots (OMRs) is proposed in this paper. Due to the motion characteristics of OMRs, the driving torque acting on each axis while the robot moves in different directions is distinct. Accordingly, a novel concept of anisotropy characteristics for OMRs is proposed here. In order to achieve a coordinated motion in a multi-axis system such as an OMR, the anisotropy characteristics are introduced into SMC system to coordinate the driving torque. The improved motion control method can guarantee that each driving wheel will reach the target speed with proper driving torque. Owing to the advantage of SMC, the control system of OMRs is insensitive to parametric vibration and external disturbances. To validate the performance of the improved motion control method, experiments have been carried out.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133030928","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
Rub-impact fault vibration analysis of rotor system with the different parameters using Hilbert-Huang transform 基于Hilbert-Huang变换的不同参数转子系统碰摩故障振动分析
ICMIT: Mechatronics and Information Technology Pub Date : 2009-12-19 DOI: 10.1117/12.858239
Yong Yang, Shuai Zhang, Q. Han, Yanhuai Qu
{"title":"Rub-impact fault vibration analysis of rotor system with the different parameters using Hilbert-Huang transform","authors":"Yong Yang, Shuai Zhang, Q. Han, Yanhuai Qu","doi":"10.1117/12.858239","DOIUrl":"https://doi.org/10.1117/12.858239","url":null,"abstract":"The vibration characteristics of a rub-impact rotor system with different parameters are investigated using Hil-bert-Huang Transform (HHT)-a relative novel time-frequency analysis method. Firstly, the rotor with rub-impact at fixed limiter is modeled by finite element method (FEM). Then, system simulation signals at different rotating speeds, rub-impact clearances and rub-impact rod stiffness are obtained based on the FE model, moreover which are analyzed by using HHT along with Fast Fourier Transform (FFT) and shaft center orbit methods. The results show that the effects of variables on system motion patterns, response properties and rub-impact severity differ in degrees. Some conclusions are achieved which may be useful to detect rub-impact fault accurately and effectively.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"388 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131783702","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
Quantification of a contact stimulus by diapers 尿布接触刺激的量化
ICMIT: Mechatronics and Information Technology Pub Date : 2009-12-19 DOI: 10.1117/12.858310
Takuya Nomata, Takeshi Okuyama, Hiromi Teraoka, Y. Murakami, K. Miyazawa, Mami Tanaka
{"title":"Quantification of a contact stimulus by diapers","authors":"Takuya Nomata, Takeshi Okuyama, Hiromi Teraoka, Y. Murakami, K. Miyazawa, Mami Tanaka","doi":"10.1117/12.858310","DOIUrl":"https://doi.org/10.1117/12.858310","url":null,"abstract":"This paper describes a development of a sensor system for measurement of a contact stimulus which diapers give to infants. A polyvinyliden fluoride (PVDF) film and a strain gauge are used as the sensor receptors. The PVDF is a kind of piezoelectric material. The sensor consists of a surface contact layer, a PVDF film, a strain gauge and an aluminum plate. First, in order to investigate the sensor performance, the sensor was located on a silicone plate and the upper part of the sensor was rubbed with an acrylic artificial finger. The finger enabled the measurement to carry out at a constant speed and force. Next, the sensor was attached on an infant dummy and the sensor outputs were measured under conditions with and without diapers. By comparison of the output under two different conditions, it was confirmed that there is a clearly difference between the two conditions. It was found that the developed sensor system has the possibility to quantify a contact stimulus which diapers give infants.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132930691","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
CAD/CAM method application for ear shell auto-manufacturing CAD/CAM方法在耳壳自动制造中的应用
ICMIT: Mechatronics and Information Technology Pub Date : 2009-12-19 DOI: 10.1117/12.858059
S. Jarng, Gao Ting
{"title":"CAD/CAM method application for ear shell auto-manufacturing","authors":"S. Jarng, Gao Ting","doi":"10.1117/12.858059","DOIUrl":"https://doi.org/10.1117/12.858059","url":null,"abstract":"This paper presents the engineering technique of the rapid hearing aid production with a rapid shell modelling (RSM) Computer Aided Design/Manufacturing (CAD/CAM). It will be worthwhile to describe how the virtual ear shell designed with RSM from an ear impression. And the virtual ear shell model is then used as the template to manufacture the actual ear shell by a Rapid Production (RP) machine. Some detailed description of the whole processing will be given in this thesis. The CAD/CAM method processing will enhance and provide outstanding, high-quality hearing aid shell production capabilities to customers. It reduces the time and the cost of designing products and facilitates direct and indirect manufacturing by creating actual parts directly from digital input. It determines that this technique has made a large impact on hearing aid processing and fitting.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131339072","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
Performances among various common spatial pattern methods for simultaneous MEG/EEG data 几种常用空间模式方法在脑电信号/脑电信号同步处理中的性能分析
ICMIT: Mechatronics and Information Technology Pub Date : 2009-12-19 DOI: 10.1117/12.858778
S. Kang, M. Ahn, S. Jun
{"title":"Performances among various common spatial pattern methods for simultaneous MEG/EEG data","authors":"S. Kang, M. Ahn, S. Jun","doi":"10.1117/12.858778","DOIUrl":"https://doi.org/10.1117/12.858778","url":null,"abstract":"Brain Computer Interface (BCI) is a communication pathway between devices (computers) and the human brain. It treats brain signals in a real-time basis and deciphers some of what the human brain is doing to give us certain information. In this work, we develop the BCI system based on simultaneous electroencephalograph (EEG) and magnetoencephalography (MEG) using various preprocessing and feature extraction methods along with Fisher linear discriminant analysis (FLDA) classifier. Common spatial pattern (CSP) is a spatial filter whose spatially projected signal has maximum power for one class and minimum power for the other. Each single trial is computed by the variance in the time domain. We choose a proper number of patterns in order to make a feature vector. In this work, 6 CSP patterns, the first three and the last three ones are selected. A feature vector consists of 6 variances of each extracted CSP pattern from projected data. Among various CSP methods, we used normal common spatial patterns (CSP), invariant common spatial patterns (iCSP), and common spectral spatial patterns (CSSP) methods to measure the performances. Simultaneous MEG/EEG datasets (340 channels) for four subjects from Eleckta Vectorview system were digitally acquired at a 1 KHz and 8-30Hz bandpass filtered. Total 340 channels consist of three kinds of channel types such as 102 magnetometers, 204 gradiometers and 40 EEG electrodes. Three different modalities such as EEG-only, MEG-only, and simultaneous MEG and EEG were analyzed in order to study comparative BCI performances on three variants of CSP. Particularly, for simultaneous MEG/EEG data we proposed three different combination ways for BCI and their performances were discussed.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132313553","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
Analyzing kinematics of 3-TPT parallel machine tool by opening visual simulation system 利用开放式可视化仿真系统对3-TPT并联机床进行运动学分析
ICMIT: Mechatronics and Information Technology Pub Date : 2009-12-19 DOI: 10.1117/12.858250
Wei Sun, Q. Han, Hui Ma, Bangchun Wen
{"title":"Analyzing kinematics of 3-TPT parallel machine tool by opening visual simulation system","authors":"Wei Sun, Q. Han, Hui Ma, Bangchun Wen","doi":"10.1117/12.858250","DOIUrl":"https://doi.org/10.1117/12.858250","url":null,"abstract":"Analyzing the kinematics of parallel machine tool is the important content of estimating or designing parallel machine and the basis of corresponding control system design. Visual simulation is a kind of applied method to deal with the kinematics of parallel mechanism. In the paper, on the basis of analyzing kinematics, the visual design system of 3-TPT parallel machine tool is opened by Visual Basic software. This system can receive the parameters relying on visual interfaces and rapidly realize calculation and simulation of position, velocity and acceleration. Furthermore, the system can also simulate motion status of the parallel machine tool utilized bitmap animation. Practice indicates that opening visual simulation system is an effective measure to settle design and analysis of complicated mechanism.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128788093","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
Feasibility study of using line tracer robot under disaster situation 灾害情况下使用示线机器人的可行性研究
ICMIT: Mechatronics and Information Technology Pub Date : 2007-12-10 DOI: 10.1117/12.784474
Hyung Ki Kim, G. Choi, G. Choi
{"title":"Feasibility study of using line tracer robot under disaster situation","authors":"Hyung Ki Kim, G. Choi, G. Choi","doi":"10.1117/12.784474","DOIUrl":"https://doi.org/10.1117/12.784474","url":null,"abstract":"Line tracer robots are widely accepted in various industry for the purpose of moving objects. In this study feasibility of using line tracer robots under disaster situation is studied as the line tracing capability may be useful in case of disaster. A small scale line tracer robot is designed, implemented, and tested under disaster situation. Specifically, the MCU based robot hardware including sensor, encoder, motor, and power supply is designed and implemented. Also, the software for receiving sensor signal, for driving motor and for implementing line searching algorithm is designed. The devised robot detects the guide line using 6 infrared optical sensors and can adjust the direction of motion with the front steering servo motor according to the sensor signal. In driving test, the robot showed reliable performance both on the straight and curved paths having obstacles under limited visibility condition as in disaster situation.","PeriodicalId":250590,"journal":{"name":"ICMIT: Mechatronics and Information Technology","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114660712","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
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