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The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.最新文献

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Novel AC-DC converter control principle for automotive BLDC generator in low-speed range 新型车用无刷直流发电机低速交直流变换器控制原理
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297650
P. Bajec, B. Pevec, D. Voncina, D. Miljavec, J. Nastran
{"title":"Novel AC-DC converter control principle for automotive BLDC generator in low-speed range","authors":"P. Bajec, B. Pevec, D. Voncina, D. Miljavec, J. Nastran","doi":"10.1109/AMC.2004.1297650","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297650","url":null,"abstract":"The paper outlines a case study on an Integrated Starter-Generator-torque-Booster (ISGtB) for automotive applications, with a special focus on low speed generator operation mode. The discussed hybrid propulsion system consists of an internal combustion (IC) engine and a BLDC machine and is in its origin intended to drive the street scooter. The complex functionality of ISGtB, some deciding characteristics of modern two-stroke IC engines, stringent demands for the generated supply voltage and the nature of the selected electrical machine with linear dependence between the back EMF and rotational speed make the generator operation mode a point of interest. A sophisticated AC-DC converter and its control are introduced that enable different rectification possibilities, mainly due to the used power MOSFET switches and their characteristics. Two improvements of the low speed generator operation were studied, the synchronous rectification through activation of the MOSFET channels during the reversal of the drain voltage and the operation of the AC-DC converter as a BOOST converter with the use of BLDC phase windings. Measurement results reveal that the proposed AC-DC converter and its control, where each converter leg operates as autonomous BOOST converter with synchronously triggered upper transistors (T1, T3, T5) instead of the use of body diodes (D1, D3, D5), lead to an improved low speed generator characteristic and offer simple, yet effective energy flow control.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127220650","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
A high-speed vision system with in-pixel programmable ADCs and PEs for real-time visual sensing 一种高速视觉系统，具有像素内可编程adc和实时视觉传感pe
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297909
S. Kagami, T. Komuro, M. Ishikawa
{"title":"A high-speed vision system with in-pixel programmable ADCs and PEs for real-time visual sensing","authors":"S. Kagami, T. Komuro, M. Ishikawa","doi":"10.1109/AMC.2004.1297909","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297909","url":null,"abstract":"This paper describes a real-time vision system of which the pixel contains a photo detector, an analog-to-digital converter (ADC), and a digital processing element. The pixel-parallel processing array combined with a dedicated real-time control structure enables real-time visual processing at a high frame rate. The in-pixel programmable ADC offers flexible imaging capability with enhanced dynamic range. The system implementation issues are also described.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123266198","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: 22
Load distribution control for cooperative transportation by multiple mobile robots 多移动机器人协同运输负荷分配控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297675
K. Tsuji, T. Murakami
{"title":"Load distribution control for cooperative transportation by multiple mobile robots","authors":"K. Tsuji, T. Murakami","doi":"10.1109/AMC.2004.1297675","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297675","url":null,"abstract":"This paper addresses the theme of cooperative transportation by multiple mobile robots. There are some cases where robots are in overload by the influence of environment and the trajectory of a carrying object. In such cases the transportation becomes unstable. Thus, in this paper, the control system to prevent this problem is proposed. The proposed system consists of three control layers and the information on the system's load condition is transmitted among these layers. Based on this, the means for realizing stable transportation are performed. The system can be applied when there is various number and capability of robots. The validity of the proposed control method is checked by the simulation.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116393383","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
Friction free bilateral system based on twin drive control system considering resonant frequency for haptics 考虑触觉共振频率的基于双驱动控制系统的无摩擦双侧系统
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297667
Y. Ohba, K. Ohishi
{"title":"Friction free bilateral system based on twin drive control system considering resonant frequency for haptics","authors":"Y. Ohba, K. Ohishi","doi":"10.1109/AMC.2004.1297667","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297667","url":null,"abstract":"This paper proposes a new friction free bilateral system based on twin drive control system considering resonant frequency for haptics. The twin drive system consists of two motors, which are coupled by the differential gear. The output torque becomes a different torque of both motors. The nonlinear friction torque of twin drive system can be easily compensated. However, as this system is constructed by the planetary gear and the differential gear, this system has the mechanical resonant frequency. Hence, it often has the tensional vibration. In order to overcome this problem, this paper proposes a new two-mass-model of twin drive system, and identifies these mechanical parameters and the friction torque. Moreover, this paper realizes a fine friction free bilateral control system considering its resonant frequency.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122225963","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
Position detection method using induced voltage for battery charge on autonomous electric power supply system for vehicles 车辆自主供电系统中感应电压充电位置检测方法
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297664
T. Hata, Tutomu Ohmae
{"title":"Position detection method using induced voltage for battery charge on autonomous electric power supply system for vehicles","authors":"T. Hata, Tutomu Ohmae","doi":"10.1109/AMC.2004.1297664","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297664","url":null,"abstract":"It is desirable that battery driven vehicles are charged in automatically with contactless and high-efficiency. The magnetic coupling that is one of the contactless charges is suitable. However, a precise positioning system of a power supply unit is required in this method. This paper proposes a relative position detection method between the power supply unit and the autonomous vehicle. Especially the position detection is obtained by utilizing the voltage induced for the battery charge. To use the induced voltage as a position detection signal, the relation between the position of cores and the induced voltage is theoretically obtained. Moreover, to confirm theoretical results, the induced voltage is measured with experiments. From experimental results, it was confirmed that the induced voltage is able to use as a feedback signal for the position control.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129616704","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: 26
Study on high accuracy optical encoder with 30 bits 高精度30位光学编码器的研究
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297918
T. Kojima, Y. Kikuchi, S. Seki, H. Wakiwaka
{"title":"Study on high accuracy optical encoder with 30 bits","authors":"T. Kojima, Y. Kikuchi, S. Seki, H. Wakiwaka","doi":"10.1109/AMC.2004.1297918","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297918","url":null,"abstract":"This paper describes a fabrication method for a high accuracy disk which has a higher accuracy than a drawing system of an original disk pattern, and development of an optical rotary encoder with a resolution of 30 bits. High accuracy disk technology is the most significant technology regarding fine angular sensors, and it has an accuracy of less than 0.5 /spl mu/m and 1 sec as it reaches its limitation. However, concerning the disk for an angular sensor it is necessary to obtain a higher accuracy. And then, this study has enabled the creation of a higher accuracy disk and encoder by rejecting disk error which measured at repeatable errors. By using the studied technology, it was possible to make the high a resolution and high accuracy optical encoder with the resolution of 30 bits.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129697045","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: 14
Neuro sliding mode control of timing belt servo-system 同步带伺服系统的神经滑模控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297659
Y. Yildiz, A. Sabanoviç
{"title":"Neuro sliding mode control of timing belt servo-system","authors":"Y. Yildiz, A. Sabanoviç","doi":"10.1109/AMC.2004.1297659","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297659","url":null,"abstract":"In this paper, the employment of neural networks with sliding mode control in the control of a linear drive with flexible transmission element is described. Linear drives with flexible transmission elements are cheaper and also more efficient than the ones with rigid transmissions like power screw systems. Hence, these devices play an important role in the industry. A neuro-sliding mode controller cascaded with a discrete sliding mode controller is used to control the system. Neuro-sliding mode controller is used in the outer loop and produces reference for the discrete sliding mode controller which serves as a force controller, in the inner loop. The control signal of the neuro-controller is obtained by minimizing an error function which is derived from Lyapunov stability analysis. The controller performance is tested with different loading conditions and different friction torques and the results are presented.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123372048","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: 12
Realtime generation of smart speed pattern for EVs taking driver's command change into account 考虑驾驶员指令变化的电动汽车智能速度模式实时生成
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297646
T. Saitoh, T. Hwa, Y. Hori
{"title":"Realtime generation of smart speed pattern for EVs taking driver's command change into account","authors":"T. Saitoh, T. Hwa, Y. Hori","doi":"10.1109/AMC.2004.1297646","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297646","url":null,"abstract":"This paper attempts to draw up a general framework for consideration of motion control of EVs using speed patterns. Design of the speed pattern is related to improvement in ride comfort. The pattern is given as a polynomial with time as the variable. An interesting feature of the proposed method is that three parameters are able to be determined arbitrarily and separately. Some experimental results show that application of speed pattern and determination of parameters can affect the ride comfort.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121427474","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: 21
Human interactive motion of redundant manipulator by virtual nonholonomic constraint 基于虚拟非完整约束的冗余机械手人机交互运动
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297898
S. Shibata, T. Murakami
{"title":"Human interactive motion of redundant manipulator by virtual nonholonomic constraint","authors":"S. Shibata, T. Murakami","doi":"10.1109/AMC.2004.1297898","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297898","url":null,"abstract":"Nonholonomic constraint offers people an intuitive way to handle systems. As an application of this human ability, we set a virtual nonholonomic constraint on the end-effector of a robotic manipulator. The operator holds its end-effector and moves it as if he/she was using a shopping cart or a barrow. We use anisotropic impedance control to realize the constraint. The end-effector is able to rotate and move toward itself, but not vertically. A reaction torque observer is applied to recognize the force by the operator in order to make the system sensorless. This system offers several applications, for example, to correct a vibrating hand working on complex jobs like manufacturing and surgery.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128198281","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
End-to-end delay evaluation on multipath routing IP network 多路径路由IP网络的端到端时延评估
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297916
S. Hakataya, T. Yakoh
{"title":"End-to-end delay evaluation on multipath routing IP network","authors":"S. Hakataya, T. Yakoh","doi":"10.1109/AMC.2004.1297916","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297916","url":null,"abstract":"Real-time communication infrastructure is required for distant motion control. This paper proposes a multipath policy routing based on class-based queueing. Isolating queues and links for an UDP's real-time flow from other non real-time flows, it is expected to reduce the delays and jitters of a real-time flow. Some simulation results show the efficiency of our proposal. It turns out that our proposed multipath routing achieves minimum end-to-end delay theoretically, and eliminates the jitter of real-time flow whether a bottleneck link exists or not.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121467599","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
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