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2021 24th International Conference on Mechatronics Technology (ICMT)最新文献

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Brake Control of a Two-wheeler using Optimal Slip Prediction based Sliding Mode Control 基于最优滑移预测的两轮车滑模制动控制
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687186
Kartikey Chauhan, Aman Kumar, Krishna Kumar Ramakrishna Pandian, S. Sengupta, T. Dinh
{"title":"Brake Control of a Two-wheeler using Optimal Slip Prediction based Sliding Mode Control","authors":"Kartikey Chauhan, Aman Kumar, Krishna Kumar Ramakrishna Pandian, S. Sengupta, T. Dinh","doi":"10.1109/ICMT53429.2021.9687186","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687186","url":null,"abstract":"With the increase in average speed of two-wheelers, there is a compelling need to ensure safety by maintaining stability of the two-wheelers during braking by preventing wheel lock. In this paper, we develop a sliding mode controller based brake control strategy for a two-wheeler using its dynamic model which proportions the brake force to front and rear wheels through appropriate commands, so as to track the optimal wheel slip during braking. This is in response to the rider's brake force demand through the front and rear brake control levers, taken as inputs, which influence the braking torque in another wheel as well. Further, the optimal wheel slip is calculated during runtime to achieve the maximum coefficient of friction in the given road and vehicle. By implementing the control strategy in conjunction with a two-wheeler simulation model, the performance is analyzed in terms of stability, minimum stopping distance, optimal slip tracking and jerk.","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127962732","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
Mimicking Condylar Knee to Design Bio-Inspired Robotic Knee Joint Based on Magnetic Resonance Imaging 基于磁共振成像的仿生髁状膝关节仿生机器人设计
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687202
Ching-Hua Hung, Appolinaire C. Etoundi, A. Jafari, J. Matthews, Wei-Chin Chang, J. Chong
{"title":"Mimicking Condylar Knee to Design Bio-Inspired Robotic Knee Joint Based on Magnetic Resonance Imaging","authors":"Ching-Hua Hung, Appolinaire C. Etoundi, A. Jafari, J. Matthews, Wei-Chin Chang, J. Chong","doi":"10.1109/ICMT53429.2021.9687202","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687202","url":null,"abstract":"The process of designing bio-inspired knee joint has been a challenging issue due to the complicated kinematics and dynamics of the human knee joint. This paper addresses this issue by presenting a design methodology that has been used to model the human knee joint from Magnetic Resonance Imaging (MRI) scans, and curve fitting method to approximate the condylar profiles. The study was to extract the knee profiles from MRI scans and create a 3D model of a condylar knee joint for robotic applications. A medical imaging software was used to assist the process of converting these scans into a 3D model. This model was then imported into a 3D Computer Aided Design (CAD) software and various profiles from the model were extracted to derive the articular surfaces of the condylar knee. The condylar profiles that were extracted to create the bio-inspired knee model based on articular surfaces, were also analysed in MATLAB using polynomial equations. The results of the polynomial equation are a good fit of the condylar profile extracted from the 3D model, which can benefit the design of a prosthetic joint. The generated 3D model of the knee from the MRI scans can also be used to assist with the sizing and movement of a life-like knee implant.","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129996943","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 Self-Calibration Method for 2D Vision-based Reverse Engineering 一种基于二维视觉的逆向工程自标定方法
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687276
Huu-Cuong Nguyen, Q. Ngo, Van-Cuong Nguyen
{"title":"A Self-Calibration Method for 2D Vision-based Reverse Engineering","authors":"Huu-Cuong Nguyen, Q. Ngo, Van-Cuong Nguyen","doi":"10.1109/ICMT53429.2021.9687276","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687276","url":null,"abstract":"Fast copying of the profile of sample object is a requirement of vision-based reverse engineering system. However, there is a problem that the size of sample object is limited to a certain range. In this study, this obstacle is solved by a novel self-calibration method. Based on inverse perspective transformation approach, using a flat marked plane, the 2D profile of a sample object can be obtained with a freely moving camera, such as the camera of smart phone. This allows quickly collecting of the 2D shape of an object with any size. Experimental results show that the proposed method achieves high accuracy. This helps to improve the 2D vision-based reverse engineering system more efficient and flexible.","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116131962","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
Study on Guinea Fowl Mimicking Jumping Robot with Momentum Wheel Mechanism 基于动量轮机构的仿珍珠鸡跳跃机器人研究
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687173
Myeongjin Kim, Bong-Keun Song, Dong-Woo Yun
{"title":"Study on Guinea Fowl Mimicking Jumping Robot with Momentum Wheel Mechanism","authors":"Myeongjin Kim, Bong-Keun Song, Dong-Woo Yun","doi":"10.1109/ICMT53429.2021.9687173","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687173","url":null,"abstract":"Jumping robots with a balance control mechanism using an inertial tail have been actively studied to overcome various obstacles. However, there have been no studies to increase the stability of the jumping robot's legs, which move rapidly during jumping, and to reduce the volume of the tail mechanism. In this paper, we focus on a prototype of guinea fowl jumping robot to improve the stability during the rapid jumping motion, and we introduce a momentum wheel mechanism to reduce the occupied volume of the tail mechanism. In addition, we suggest a basic study to make continuous jumping motion by using the momentum wheel mechanism to change the jumping angle, jumping height, and jumping distance. A theoretical analysis, simulation, prototype fabrication, and experiment of a guinea fowl jumping robot with a 1-axis momentum wheel mechanism were carried out. Besides, we confirmed that the passive hallux structure contributed to the jumping stability, and we verified that the prototype model could properly land on the ground by controlling the posture after vertical jumping using the momentum wheel mechanism.","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126243449","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
Command filter backstepping control of a 2-DOF cable-driven manipulator 二自由度电缆驱动机械臂的命令滤波反步控制
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687246
T. Q. Thanh, D. Tran, Nguyen Hong Phuc, Cong Minh Ho
{"title":"Command filter backstepping control of a 2-DOF cable-driven manipulator","authors":"T. Q. Thanh, D. Tran, Nguyen Hong Phuc, Cong Minh Ho","doi":"10.1109/ICMT53429.2021.9687246","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687246","url":null,"abstract":"This paper focuses on addressing the tracking problem of a 2-DOF cable-driven manipulator by employing a command filter backstepping control. In the 2-DOF cable-driven manipulator, both the manipulator dynamics and cable transmission dynamics are described in the manuscript. As a result, the manipulator becomes a fourth-order system, and the problem of “explosion of complexity” will arise when conventional backstepping control is applied to manage the system. To overcome this issue, a command filter backstepping control is proposed. A Lyapunov approach is investigated to demonstrate the stability and robustness of the whole system with the backstepping technique. Finally, some simulations are conducted on a 2-DOF cable-driven manipulator to verify the effectiveness of the proposed control.","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128194097","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
Eddy Current- and Friction Brake Fusion by a Disc-Spring to a Hybrid- Brake 涡流和摩擦制动融合的盘式弹簧混合制动器
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687288
C. Holtmann
{"title":"Eddy Current- and Friction Brake Fusion by a Disc-Spring to a Hybrid- Brake","authors":"C. Holtmann","doi":"10.1109/ICMT53429.2021.9687288","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687288","url":null,"abstract":"This paper shows the concept and design method of a hybrid brake. The magnetic attraction force between rotor and stator of an eddy current brake can be used to generate an additional mechanical friction torque. By using a disc spring between rotor and stator, the eddy current brake is extended to a so-called hybrid brake. In particular, the design method of the disc spring is the focus of this work. Using a system model that includes the electromagnetic and mechanical domains, the wear reduction compared to a conventional friction brake and the dynamic behavior depending on the spring parameters are investigated. Finally, a disc spring is designed in FEM with the desired force-displacement curve.","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126692182","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
Protrusion Type Slip Detection Soft Sensor and Application to Anthropomorphic Robot Hand 凸出式滑移检测软传感器及其在拟人机械手中的应用
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687296
Junmo Yang, Minsong Kim, Donghyun Kim, Dongwon Yun
{"title":"Protrusion Type Slip Detection Soft Sensor and Application to Anthropomorphic Robot Hand","authors":"Junmo Yang, Minsong Kim, Donghyun Kim, Dongwon Yun","doi":"10.1109/ICMT53429.2021.9687296","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687296","url":null,"abstract":"In this study, a soft protrusion type sensor that can detect slip was designed. In general, gripper or robot hand receives additional information using vision system, force sensor, and tactile sensor to stably grip an object. These sensors require a lot of cost to manufacture, and the grippers that can be applied are limited. Therefore, in order to overcome this limitation, a soft sensor that has low manufacturing cost and can be applied to various grippers was manufactured using strain gauges and silicon. The performance of the proposed two types of soft sensors was confirmed through slip detection experiments. In addition, it was confirmed whether grasping could be performed after inserting a soft sensor into the distal phalanges by fabricating a four-finger anthropomorphic robot hand. As a result, the soft sensor proposed in this paper shows the advantage of being small in size and can be manufactured at low cost, and the possibility of manufacturing a sensor using soft material was confirmed","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130233548","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
Riding Pattern Identification by Machine Learning for Electric Motorcycles 基于机器学习的电动摩托车骑行模式识别
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687179
M. Faraji-Niri, T. Dinh, J. Marco
{"title":"Riding Pattern Identification by Machine Learning for Electric Motorcycles","authors":"M. Faraji-Niri, T. Dinh, J. Marco","doi":"10.1109/ICMT53429.2021.9687179","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687179","url":null,"abstract":"Identification of riding patterns is one of the key enablers to update energy consumption strategy, optimise the energy management system and increase the range of electric motorcycles despite their weight and space limits. Considering the varying driving conditions in real applications, improving accuracy of the riding pattern recognition without significant complexity is the main challenge. In this paper a simple and efficient online classification method is introduced based on features extracted only from the motorcycle speed. The recognition mechanism is firstly developed using support vector machine technique. The effect of validation method for removing the optimism in classification and the contribution of features to the accuracy of model is then investigated. Evaluation of the method on the real riding conditions in simulation environment shows the effectiveness of the approach.","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124872782","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
Energy management strategy for fuel cell hybrid power system using fuzzy logic and frequency decoupling methods 基于模糊逻辑和频率解耦方法的燃料电池混合动力系统能量管理策略
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687291
H. Trinh, H-V-A Truong, K. Ahn
{"title":"Energy management strategy for fuel cell hybrid power system using fuzzy logic and frequency decoupling methods","authors":"H. Trinh, H-V-A Truong, K. Ahn","doi":"10.1109/ICMT53429.2021.9687291","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687291","url":null,"abstract":"Proton-exchange membrane fuel cell (PEMFC) has become a potential renewable energy source to replace fossil fuels and reduce greenhouse gas emissions. However, slow power density and slow power response are drawbacks of the PEMFC. In order to overcome these shortcomings and improve the fuel economy, this paper presents an innovative energy management strategy (EMS) using a fuzzy logic control (FLC) and frequency decoupling (FD) for a hybrid power system (HPS) with PEMFC, battery (BAT), and supercapacitor (SC). Based on the power response of energy sources, the combination of FLC and FD is applied to determine the appropriate power distribution for load power demand. Besides, a DC bus control loop was designed by using the BAT to guarantee a stable DC output voltage. Comparisons between the proposed strategy with a conventional approach are conducted to verify the strategy's effectiveness through MATLAB/Simulink environment. Simulation results show that the proposed EMS can be guaranteed to not only sufficiently coordinate powers even when the abrupt changes of load or high peak power, but also enhance the efficiency of the PEMFC in comparison with the conventional EMS.","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114537704","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
Study and Implementation of a Robot Soccer System based on the CDIO approach 基于CDIO方法的机器人足球系统的研究与实现
2021 24th International Conference on Mechatronics Technology (ICMT) Pub Date : 2021-12-18 DOI: 10.1109/ICMT53429.2021.9687208
Tieu Binh Tran, C. Pham
{"title":"Study and Implementation of a Robot Soccer System based on the CDIO approach","authors":"Tieu Binh Tran, C. Pham","doi":"10.1109/ICMT53429.2021.9687208","DOIUrl":"https://doi.org/10.1109/ICMT53429.2021.9687208","url":null,"abstract":"Soccer robots have been frequently used to validate models of multi-agent systems, involving collaboration among the agents. For this purpose, many researchers in robotics have been developing robotic soccer teams which compete in events such as RoboCup and FIRA. This study aims to explore a robot soccer system in which two prototypes of soccer robots are fabricated. A global vision system is implemented to collect real-time positions and orientations of the ball and robots. Then, their data is transferred to a host computer and processed. Finally, kinematic commands are sent to the robots to perform desired motions. The results of this study have successfully implemented the soccer robot system.","PeriodicalId":258783,"journal":{"name":"2021 24th International Conference on Mechatronics Technology (ICMT)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128365600","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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