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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics最新文献

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A Realization of Haptic Skill Database by Bilateral Motion Control 基于双侧运动控制的触觉技能数据库的实现
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-12-01 DOI: 10.1109/IECON.2006.347303
T. Shimono, S. Katsura, K. Ohnishi
{"title":"A Realization of Haptic Skill Database by Bilateral Motion Control","authors":"T. Shimono, S. Katsura, K. Ohnishi","doi":"10.1109/IECON.2006.347303","DOIUrl":"https://doi.org/10.1109/IECON.2006.347303","url":null,"abstract":"This paper proposes the novel technology for the haptic skill database. In recent years, skill preservation and skill acquisition have been serious problems in various fields. However, the conventional recording technology of visual and audio information is not suitable for the preservation and acquisition of the skill. This is because the expert skill requires haptic information that is obtained from the real environment. So, in order to realize the preservation and acquisition of the skill, the novel database which is able to store and replay bilateral haptic information as well must be developed. Thus, in this paper, the haptic skill database based on bilateral control that is able to preserve the skill and to replay it is proposed. The experimental results show the viability of the proposed methods","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116874774","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
Trajectory Planning of Biped Robot Using Linear Pendulum Mode for Double Support Phase 双足机器人双支撑相位线性摆模式轨迹规划
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-12-01 DOI: 10.1109/IECON.2006.348126
M. Shibuya, T. Suzuki, K. Ohnishi
{"title":"Trajectory Planning of Biped Robot Using Linear Pendulum Mode for Double Support Phase","authors":"M. Shibuya, T. Suzuki, K. Ohnishi","doi":"10.1109/IECON.2006.348126","DOIUrl":"https://doi.org/10.1109/IECON.2006.348126","url":null,"abstract":"Double support phase is important for biped phase. robots to achieve stable walking. In this research, a simple trajectory planning method using linear pendulum mode (LPM) is proposed for double support phase. A biped robot is modeled by a pendulum in LPM. The walking stability is assured when the supporting point of LPM is set in the specific area. The area is shown clearly with zero moment point (ZMP) in this paper. LPM is able to be applied to various motions since LPM uses a simple pendulum model. In this paper, a stop motion is described, for example. A pendulum has the dynamism that the COG velocity in the horizontal direction becomes 0 at particular points. LPM realizes natural stop motions using the dynamism","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"57 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115428150","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: 45
Backward Motion Control for Articulated Vehicles with Double Trailers Considering Driver's Input 考虑驾驶员输入的双挂车后向运动控制
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-12-01 DOI: 10.1109/IECON.2006.347530
K. Matsushita, T. Murakami
{"title":"Backward Motion Control for Articulated Vehicles with Double Trailers Considering Driver's Input","authors":"K. Matsushita, T. Murakami","doi":"10.1109/IECON.2006.347530","DOIUrl":"https://doi.org/10.1109/IECON.2006.347530","url":null,"abstract":"This paper describes the motion control for an articulated vehicle with double trailers. The backward motion of an articulated vehicle requires the experienced skill, because positions and angles of trailers must be controlled by only an input to a tractor. When a driver changes angles of trailers in backward driving, the steering angle of the tractor must be controlled skillfully. This operation is different in case of the backward motion of a single vehicle. If a driver's control skill is poor, maneuvering of an articulated vehicle is very dangerous. In this research, the control method for an articulated vehicle which has two trailers is proposed. By using this method, drivers are able to maneuver the articulated vehicle easily as like maneuvering a single vehicle. This method is based on Lyapunov function and backstepping. Several numerical results are shown to confirm the validity of the proposed method","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129375702","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: 16
A Design Method of Communication Disturbance Observer for Time Delay Compensation 时延补偿通信干扰观测器的设计方法
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-12-01 DOI: 10.1109/IECON.2006.347769
K. Natori, K. Ohnishi
{"title":"A Design Method of Communication Disturbance Observer for Time Delay Compensation","authors":"K. Natori, K. Ohnishi","doi":"10.1109/IECON.2006.347769","DOIUrl":"https://doi.org/10.1109/IECON.2006.347769","url":null,"abstract":"In any physical systems, there inevitably exists time delay. Since it has very characteristic and distinctive properties, control of time delayed systems is even now a very difficult and unresolved problem. Therefore a lot of researches about time delay have been studied so far. A distinguished time delay compensation method is Smith predictor. It can equivalently eliminates time delay from closed control loop and stabilize time delayed systems. However precise delay time model is needed for implementation of the method. It is therefore necessary to measure accurate delay time. In these circumstances, authors have proposed a novel time delay compensation method based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). In this method, delay time model is not needed. It is therefore not necessary to measure delay time. Hence it can be flexibly applied to many kinds of time delayed systems. In this paper, a design method of time delayed control system based on the concept of ND and CDOB is proposed. Dynamic property of ND leads to derivation of two design conditions of CDOB. Then actual design procedure of CDOB based on derived design conditions is presented. The validity of proposed design method is verified by experimental results","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127879971","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: 37
Control of the Boost DC-AC Converter by Energy Shaping 升压DC-AC变换器的能量整形控制
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-11-07 DOI: 10.1109/IECON.2006.347263
Carolina Albea, F. Gordillo, J. Aracil
{"title":"Control of the Boost DC-AC Converter by Energy Shaping","authors":"Carolina Albea, F. Gordillo, J. Aracil","doi":"10.1109/IECON.2006.347263","DOIUrl":"https://doi.org/10.1109/IECON.2006.347263","url":null,"abstract":"In this paper a control strategy for generation of alternating current without using any reference signal is applied to a nonlinear boost dc-ac converter. A phase-locked loop is added to the control law in order to achieve synchronization between the two parts of the circuit. It is also shown that this idea is also valid for synchronization with the network. The resultant control laws are tested by means of simulations","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125680615","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: 19
Use of data standardization to improve inverter - induction machine fault detection 利用数据标准化改进逆变感应电机故障检测
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-11-06 DOI: 10.1109/IECON.2006.347463
O. Ondel, E. Boutleux, G. Clerc
{"title":"Use of data standardization to improve inverter - induction machine fault detection","authors":"O. Ondel, E. Boutleux, G. Clerc","doi":"10.1109/IECON.2006.347463","DOIUrl":"https://doi.org/10.1109/IECON.2006.347463","url":null,"abstract":"Intensive research efforts have been focused on the signature analysis (SA) to detect electrical and mechanical fault condition of induction machines. Different signals can be used: voltage, current and flux. The characteristic frequency research by a current spectral analysis is a well-known method widely used. This method is valid when the motor is supplied by the three-phase main network. However nowadays, in industrials applications, the asynchronous motors are more and more supplied by converters, in particular for variable speed. The current spectral analysis is almost not exploitable because of appearance of multiple harmonics of the commutation frequency. This paper presents a diagnosis method applied to a set \"converter-machine-load\". This method is based on pattern recognition approach. The use of the data standardization makes it possible to free from the level of load and thus to represent an operating mode by only one class. This fact allows decreasing the number of initial data necessary to the training phase and improving the final diagnosis","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125543635","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
Nonlinear Target Impedance Design and Its Use in Robot Compliant Motion Control with Time Delay Estimation 非线性目标阻抗设计及其在机器人柔性运动时滞控制中的应用
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-11-06 DOI: 10.1109/IECON.2006.347763
P. Chang, Maolin Jin
{"title":"Nonlinear Target Impedance Design and Its Use in Robot Compliant Motion Control with Time Delay Estimation","authors":"P. Chang, Maolin Jin","doi":"10.1109/IECON.2006.347763","DOIUrl":"https://doi.org/10.1109/IECON.2006.347763","url":null,"abstract":"Nonlinear target impedance is proposed for robot compliant motion control. The target impedance is designed by adding a nonlinear damping term to conventional linear target impedance to suppress undesired energy. A robust control method, time delay control, is used to achieve proposed target impedance, and the stability of closed loop dynamics is proved by using Popov's hyper-stability theory. Through experiments on 1-DOF arm with friction, the proposed target impedance has been compared to linear impedance to confirm its effectiveness. Compared to linear target impedance, nonlinear target impedance is better for tracking discontinuous trajectory, and more robust against Coulomb friction in free space motion control. The nonlinear target impedance intelligently absorbs impact energy when the robot collides with the environment","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122163693","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
Masked Symmetric Chaos Shift Keying : Modulation and demodulation of Chua's circuits using PI control estimated from LMI criterion 掩蔽对称混沌移位键控:基于LMI准则估计的PI控制的蔡氏电路调制与解调
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-11-06 DOI: 10.1109/IECON.2006.348010
F. Launay, R. Burghelea, P. Combeau, P. Coirault
{"title":"Masked Symmetric Chaos Shift Keying : Modulation and demodulation of Chua's circuits using PI control estimated from LMI criterion","authors":"F. Launay, R. Burghelea, P. Combeau, P. Coirault","doi":"10.1109/IECON.2006.348010","DOIUrl":"https://doi.org/10.1109/IECON.2006.348010","url":null,"abstract":"This paper deals with a new modulation technique based on symmetric chaos shift keying (SCSK) and its receiver structure is described for optimal synchronization. The masked symmetric chaos shift keying (MSCSK) improves both security of information signal compared to SCSK and demodulation procedure. Optimal synchronization of two identical chaotic systems is performed in the paper. By using dissipativity theory, a PI control system is proposed according to linear matrix inequality (LMI). The coefficients of PI are resolved using the MATLAB LMI Toolbox. The proposed controller is simple and can be easily implemented in the demodulator. Simulation results are presented for the Chua circuit and show the effectiveness of the proposed scheme","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126608371","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
Time-Frequency Classification Applied to Induction Machine Faults Monitoring 时频分类在感应电机故障监测中的应用
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-11-06 DOI: 10.1109/IECON.2006.347481
L. Abdesselam, C. Guy
{"title":"Time-Frequency Classification Applied to Induction Machine Faults Monitoring","authors":"L. Abdesselam, C. Guy","doi":"10.1109/IECON.2006.347481","DOIUrl":"https://doi.org/10.1109/IECON.2006.347481","url":null,"abstract":"This paper presents a new method of designing an optimized time-frequency representation (TFR) from a time-frequency ambiguity plane applied to the induction machine faults classification. This method is composed of two sequential processes: a feature extraction and a classification. In the process features extraction, the time-frequency representation (TFR) have been designed for maximizing the separability between classes representing the different faults; bearing fault, stator fault and rotor fault. The classification of a new signal is based on the Mahalanobis distance. The diagnosis is independent from the level of load. This method is validated on an 5.5 kW asynchronous motor test bench","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121872948","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
Industrial and lab-scale power module technologies : A review 工业和实验室规模的电源模块技术综述
IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics Pub Date : 2006-11-06 DOI: 10.1109/IECON.2006.347559
L. Ménager, C. Martin, B. Allard, V. Bley
{"title":"Industrial and lab-scale power module technologies : A review","authors":"L. Ménager, C. Martin, B. Allard, V. Bley","doi":"10.1109/IECON.2006.347559","DOIUrl":"https://doi.org/10.1109/IECON.2006.347559","url":null,"abstract":"In industrial power modules, the most common die-level interconnect technology is wire bonding. In niche markets, where performances such as high power density, high compactness, high switching frequency and good thermal management are required, wire bonds must be removed due to electrical, thermal and mechanical (reliability) limits. 3D packaging technologies are a solution. In this paper, wire bonding technology and 3D packaging technologies are described. A comparison of these technologies is then established from literature data","PeriodicalId":260203,"journal":{"name":"IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115138566","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: 32
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