发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
Mobility of a mobile robot 移动机器人的机动性
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297676
H. Takahashi, M. Morisawa, K. Ohnishi
{"title":"Mobility of a mobile robot","authors":"H. Takahashi, M. Morisawa, K. Ohnishi","doi":"10.1109/AMC.2004.1297676","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297676","url":null,"abstract":"Studies about a mobile robot have been developed. Especially, there have been a lot of theories about the trajectory planning of a mobile robot or noholonomic constraints or tracking controller. But it has not argue what posture is suitable for a mobile robot, because the index to decide the condition of a mobile robot has not been proposed. In this paper, \"mobility of a mobile robot\", is defined applying the notion of manipulability using \"mobility Jacobian matrix\" in order to evaluate the posture of a mobile robot. At first, two mobile robots, which are an actual posture and a desired posture, assume to be rotational motors and a stationary motor. These motors presume to be connected by a virtual link between two robots, so that two mobile robots presuppose to be a virtual manipulator. Then, mobility Jacobian matrix related in the velocity vector of an end effector and rotational velocities of wheels is defined like Jacobian matrix of a manipulator. The results of simulations show the validity of the proposed definition and are prospected.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"4 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":"126454157","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: 7
A proposal of sensor fusion in cooperative system 协作系统中传感器融合的一种方案
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297917
H. Midorikawa, K. Ohnishi
{"title":"A proposal of sensor fusion in cooperative system","authors":"H. Midorikawa, K. Ohnishi","doi":"10.1109/AMC.2004.1297917","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297917","url":null,"abstract":"The main problems in visual servo system are long sampling period and extent of visual field. For sampling period of camera used in general is longer than joint servo period, hidden oscillation is controversial. Also, if a object is out of visual field, motion control is impossible. This paper discusses such problems, taking assist mobile robot system for application. An assist mobile robot which mounts a camera supports a working mobile robot with various tasks including delivery and receipt of baggage and removal of obstacles. At the first step of this study, an assist mobile robot is controlled to track a working mobile robot. Here, It doesn't matter whether transmission facility between an assist mobile robot and a working mobile robot is available. This study proposes virtual image plane by sensor fusion of vision and encoder. Virtual image plane is developed by estimated feature. And estimation and correcting of image feature on virtual image plane are realized. In conclusion, motion control with disturbance observer on virtual image plane is designed. And the validity of proposed method is shown in simulation results.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"29 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":"116933436","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
High speed positioning trajectory design for TDOF controller of hard disk drives with mechanical vibration 机械振动硬盘驱动器TDOF控制器高速定位轨迹设计
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297687
Byung-hoon Chang, Y. Hori
{"title":"High speed positioning trajectory design for TDOF controller of hard disk drives with mechanical vibration","authors":"Byung-hoon Chang, Y. Hori","doi":"10.1109/AMC.2004.1297687","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297687","url":null,"abstract":"In this paper, we propose a novel design method of target trajectory for high-speed and high-precision head-positioning of hard disk drive system. To realize smooth acceleration and deceleration, the derivative of jerk is considered not to activate any mechanical vibrations. We applied the well-known optimal control theory to fix the initial and terminal conditions. Moreover, we showed that various performance can be improved by introducing time varying weighting coefficients. Some experimental results using a 2.5 inch hard disk drive are shown to verify the effectiveness of the proposed method.","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":"117128428","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
Skid prevention for EVs based on the emulation of torque characteristics of separately-wound DC Motor 基于单绕直流电动机转矩特性仿真的电动汽车防滑
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297645
S. Kodama, Lianbing Li, Y. Hori
{"title":"Skid prevention for EVs based on the emulation of torque characteristics of separately-wound DC Motor","authors":"S. Kodama, Lianbing Li, Y. Hori","doi":"10.1109/AMC.2004.1297645","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297645","url":null,"abstract":"It is well-known that the separately-wound DC motor has effective torque (current) reduction characteristics in response to rapid increase of the rotational speed of the motor. This characteristics has been utilized in adhesion control of electric locomotives with DC motor. In this paper, how to realize a new skid prevention method for EVs utilizing this characteristics is mentioned. In order to compensate for Back-EMF, disturbance observer is introduced. By selecting the time constant or observer gain properly, the torque (current) reduction characteristics can be adjusted freely in some range. The experimental results of the hardware skid simulator utilizing Motor-Generator setup verified the effectiveness of our proposed method.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"16 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":"121815680","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: 24
Control of a micro-actuator for hard disk drives using self-sensing 硬盘驱动器微致动器的自感知控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297657
H. Yamada, M. Sasaki, Y. Nam
{"title":"Control of a micro-actuator for hard disk drives using self-sensing","authors":"H. Yamada, M. Sasaki, Y. Nam","doi":"10.1109/AMC.2004.1297657","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297657","url":null,"abstract":"This paper describes control of a micro-actuator for hard disk drives using self-sensing actuation. The self-sensing actuator using electrical bridge circuit can measure either strain or time rate of strain in the actuator. These sensing signals correspond to the tip slope of the actuator and the time rate of tip slope of the actuator. The usefulness of the self-sensing actuation technique is experimentally verified by actively damping the vibration in a micro-actuator.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"86 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":"124031554","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: 13
Study on an effective adaptive ship autopilot 一种有效自适应船舶自动驾驶仪的研究
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297955
VanTuan Nguyen, Thi-Oanh Le, T. Do, M.-M. Nguyen, Thi-Minh-Huong Nguyen, Thi-Kim-Tuyen Dinh, Thanh-Nhan Man
{"title":"Study on an effective adaptive ship autopilot","authors":"VanTuan Nguyen, Thi-Oanh Le, T. Do, M.-M. Nguyen, Thi-Minh-Huong Nguyen, Thi-Kim-Tuyen Dinh, Thanh-Nhan Man","doi":"10.1109/AMC.2004.1297955","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297955","url":null,"abstract":"Ship motion is a complex controlled process with several hydrodynamic parameters that vary in wide ranges with respect to ship load condition, speed and surrounding conditions (such as wind, current, tide, etc.). Therefore, to effectively control ships in a designed track is always an important task for ship masters. This paper presents an effective adaptive autopilot for ships that ensure the optimal accuracy, economy and stability characteristics. The PID control methodology is modified and parameters of a PID controller is designed to satisfy conditions for an optimal objective function that comprised by heading error, resistance and drift during changing course, and loss of surge velocity or fuel consumption. Designing of the controller for course changing process is based on the Model Reference Adaptive System (MRAS) control theory, while as designing of the automatic course keeping process is based on the Self Tuning Regulator (STR) control theory. Simulation (using MATLAB software) in various disturbance conditions shows that in comparison with conventional PID autopilots, the designed autopilot has several notable advantages: higher course turning speed, lower swing of ship bow even in strong waves and winds, high accuracy of course keeping, shorter time of rudder actions smaller times of changing rudder direction.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"173 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":"114746114","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: 7
Behavioral modeling methodology applied to power systems thermal analysis 行为建模方法在电力系统热分析中的应用
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297652
E. Martín, C. Ferrer
{"title":"Behavioral modeling methodology applied to power systems thermal analysis","authors":"E. Martín, C. Ferrer","doi":"10.1109/AMC.2004.1297652","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297652","url":null,"abstract":"New modeling methodologies are being applied in power complex systems to study all the problems that are found. One of these problems is power consumption and thermal management, considering the quantity and distribution that a system could tolerate. In this paper we have started studying the most important devices included in the system to finally consider the complete circuit. The applied methodology is based on the use of the VHDL-AMS language (IEEE1076.1-1999 standard). It will allow the electro-thermal interaction of the modeled system. We have applied this methodology on DC/DC Converters, which is a commercial product that presents high power consumption.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"117 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":"123052531","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
Ultra-precision stage control based on friction model of non-resonant ultrasonic motor 基于非谐振超声电机摩擦模型的超精密级控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297929
S. Hashimoto, K. Ohishi, T. Ohishi, T. Ishikawa, K. Kosaka, Y. Egashira, H. Kubota, T. Ohmi
{"title":"Ultra-precision stage control based on friction model of non-resonant ultrasonic motor","authors":"S. Hashimoto, K. Ohishi, T. Ohishi, T. Ishikawa, K. Kosaka, Y. Egashira, H. Kubota, T. Ohmi","doi":"10.1109/AMC.2004.1297929","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297929","url":null,"abstract":"This paper presents a friction model-based ultra-precision stage control that introduces the non-resonant ultrasonic motor (NRUSM). At first, the friction characteristic is experimentally evaluated as a function of the stage position. Next, the friction model is adopted for the proposed continuous-pass tracking control design, and then the efficiency of the model-based control is verified by positioning experiments. Finally, measuring the time variation of the static friction characteristics, the on-line identification method for the control system is proposed.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"50 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":"129818681","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: 10
Measurement of tractive force during acceleration and deceleration periods 测量在加速和减速期间的牵引力
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297662
H. Ohsawa, T. Furuya, M. Cao, A. Kawamura
{"title":"Measurement of tractive force during acceleration and deceleration periods","authors":"H. Ohsawa, T. Furuya, M. Cao, A. Kawamura","doi":"10.1109/AMC.2004.1297662","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297662","url":null,"abstract":"The acceleration and deceleration ability of the train depend on the tractive force. When the wheels of the train slip on the rails, the electric torque is decreased to avoid the continuous slipping. This reason is that the tractive coefficient between the wheels and the rails has a peak at a certain slip speed. But this adhesive phenomenon is not clearly examined or analyzed. Thus we have developed a new tractive test equipment. We measured the tractive force with this equipment, and clarified the adhesive phenomenon. In this paper, the measurement results of the tractive coefficient (during the acceleration and the deceleration periods) and a discussion on the experimental results of the maximum tractive force control are reported.","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":"131031108","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: 7
Anti-skid re-adhesion control based on disturbance observer considering air brake for electric commuter train 基于扰动观测器的考虑空气制动的电动通勤列车防滑再粘控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297938
S. Kadowaki, K. Ohishi, S. Yasukawa, T. Sano
{"title":"Anti-skid re-adhesion control based on disturbance observer considering air brake for electric commuter train","authors":"S. Kadowaki, K. Ohishi, S. Yasukawa, T. Sano","doi":"10.1109/AMC.2004.1297938","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297938","url":null,"abstract":"This paper proposes a new anti-skid re-adhesion control based on disturbance observer considering the air brake for electric commuter train. We have already proposed the anti-skid re-adhesion control with regenerative braking system based on disturbance observer. This proposed method has been the re-adhesion control using only regenerative braking mode. However, actual train uses both electric brake and air brake in the high-speed range. Hence, this paper proposes a new anti-skid re-adhesion control considering the air brake, which carries out the cooperation control of electric brake and air brake in order to realize a fine re-adhesion control. The numerical simulation results point out that the proposed system has the desired driving wheel torque response and a fine anti-skid re-adhesion control.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"70 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":"133109280","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信