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2011 IEEE International Conference on Mechatronics and Automation最新文献

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Stability analysis of a single object grasped by a multifingered hand with angular joints in 2D 带角关节的多指手抓握单一物体的二维稳定性分析
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985965
Takayoshi Yamada, M. Yamada, Hidehiko Yamamoto
{"title":"Stability analysis of a single object grasped by a multifingered hand with angular joints in 2D","authors":"Takayoshi Yamada, M. Yamada, Hidehiko Yamamoto","doi":"10.1109/ICMA.2011.5985965","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985965","url":null,"abstract":"We analyze static grasp stability of a single planar object. In our previous papers, we considered that each finger is replaced with an orthogonal virtual spring model. This means that each finger is constructed with prismatic joints. Human hands and the most developing mechanical hands are constructed with angular joints. In this paper, we investigate the effect of fingertip rotation and angular joints. The stability is analyzed from the potential energy method. A grasp stiffness matrix is derived by considering not only frictional rolling contact but also frictionless sliding contact. The gravity effect of the object is also considered. The difference between the frictional stiffness matrix and the frictionless one is also obtained. The stability is evaluated by the eigenvalues and eigenvectors of the grasp stiffness matrix. Effectiveness of our method is demonstrated through numerical examples.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129832126","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
Development of a guide robot interacting with the user using information projection — Basic system 利用信息投影与用户交互的引导机器人基本系统的开发
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985849
T. Sasai, Yousuke Takahashi, M. Kotani, A. Nakamura
{"title":"Development of a guide robot interacting with the user using information projection — Basic system","authors":"T. Sasai, Yousuke Takahashi, M. Kotani, A. Nakamura","doi":"10.1109/ICMA.2011.5985849","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985849","url":null,"abstract":"This paper presents a guide robot with an information projection interface. The robot can detect multiple persons around it and choose the closest one as a user. This is realized using an omnidirectional camera and a laser range finder. The robot also has a projector with a pan-tile mechanism. It can project information anywhere in the environment and guide a person. The user can input commands by simple gestures using the foot on the dialog box projected onto the floor. After destination decision, the robot guides him/her by its motion and information projected onto the floor/wall/ceiling. The displayed information is changed corresponding to his/her position. Through experiments, we verified that the robot could detect a user and guide him/her.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127130898","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
Research on the permanent magnet using comsol multiplysics in generator 发电机用comsol复合材料永磁体的研究
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985792
Wang Suli, Wen Liping, Qiu Zhaoguo, Wu Bin, He Cunfu
{"title":"Research on the permanent magnet using comsol multiplysics in generator","authors":"Wang Suli, Wen Liping, Qiu Zhaoguo, Wu Bin, He Cunfu","doi":"10.1109/ICMA.2011.5985792","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985792","url":null,"abstract":"This paper develops a model to compute the rotor permanents magnets, the structure which is usual used in the generator. To carry out such a design, the company usually employs finite element analysis software even if it is time consuming. Other designers employ FEM and BEM to evaluate the unknown air-gap permeance. We describe a approach based on the coupling of an ordinary differential equation (ODE) and arbitrary Lagrangian-Eulerian (ALE) for the performance analysis of the generator. Finite element method can be used to calculate geometry effect, the air-gap distance, to the magnetic flux density and the power flow which is analyzed.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127292327","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
Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms 基于遗传算法的倾斜平面动态旋转行走姿态优化
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985647
Chayooth Theeravithayangkura, T. Takubo, K. Ohara, Y. Mae, T. Arai
{"title":"Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms","authors":"Chayooth Theeravithayangkura, T. Takubo, K. Ohara, Y. Mae, T. Arai","doi":"10.1109/ICMA.2011.5985647","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985647","url":null,"abstract":"New inclined-plane motion for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot; the Preview control of zero moment point with cart-table model to control the robot's center of mass trajectory and the resolved momentum control to maintain stability of the robot. The authors optimized the foot positions for each inclined-angle by using genetic algorithms. The inclined-plane motions are confirmed in the dynamic simulator, Open Dynamic Engine, before implementing the motions into actual robot. The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129938570","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
Preliminary study to evaluate Emi emotional interaction with two young children 初步研究评估Emi与两个幼儿的情感互动
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985851
Sébastien Saint-Aimé, Brigitte Le Pévédic, D. Duhaut
{"title":"Preliminary study to evaluate Emi emotional interaction with two young children","authors":"Sébastien Saint-Aimé, Brigitte Le Pévédic, D. Duhaut","doi":"10.1109/ICMA.2011.5985851","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985851","url":null,"abstract":"This article will focus on research in the field of emotional interaction, for the EmotiRob project, to maintain non-verbal interaction with chidren from 4 to 8 years old. The studies carried out on perception and emotional synthesis have allowed us to develop an experimental stuffed robot, Emi, using an emotional model, iGrace, allowing for an emotional reaction based on the speech of the user. Our iGrace model can also be used with all kinds of systems which have emotion in the environment. We begin the article with a presentation of the MAPH and EmotiRob project. Then, we will quickly describe the different hypotheses we have used for the iGrace emotional model and the Emi robotics conception. We conclude with a preliminary study we began with 2 children to evaluate interaction with Emi.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129972154","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
Online collision and occlusion detection based on 3D Cuboid Maps for a daily assistive robot with a tilting LRF 基于三维长方体地图的倾斜LRF日常辅助机器人在线碰撞和遮挡检测
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985758
Kimitoshi Yamazaki, M. Inaba, Takemitsu Mori, Takashi Yamamoto
{"title":"Online collision and occlusion detection based on 3D Cuboid Maps for a daily assistive robot with a tilting LRF","authors":"Kimitoshi Yamazaki, M. Inaba, Takemitsu Mori, Takashi Yamamoto","doi":"10.1109/ICMA.2011.5985758","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985758","url":null,"abstract":"This paper describes about online collision and occlusion detection for a daily assistive robot. It is assumed that 3D map about around environment is constructed by collecting datasets gradually measured using a Laser RangeFinder mounted on a tilting platform, we develop an approach to detect collision and occlusion based on the 3D map while a robot tries to manipulate objects in daily environment. As the map representation, Time-series Composite Cuboid Map is proposed. It copes with temporal sequence explicitly, and map updating is efficiently performed. Several experiments on the assumption of daily assistance by a robot, we show the effectiveness of our approach.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130181202","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
Research on intelligent acoustic feedback exploration and suppression system 智能声反馈探测与抑制系统研究
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5986353
Z. Huang, Dagui Huang, Ding Yang
{"title":"Research on intelligent acoustic feedback exploration and suppression system","authors":"Z. Huang, Dagui Huang, Ding Yang","doi":"10.1109/ICMA.2011.5986353","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986353","url":null,"abstract":"Acoustic feedback is a common phenomenon in public addressing systems. Howling, which results from acoustic feedback, restrains the gain of amplifier and affects the transmissive sound's definition. When feedback goes serious, the public addressing systems even can't work. So making acoustic feedback under control is an key gist to the designer of public address system. By researching the process of howling, we have proposed an effectual scheme: use FFT and Chirp-z transform algorithm to detect acoustic feedback, and create a wave, which has the same amplitude and frequency with the howling signal but have reverse phase, to add on the input signal so that it can remove acoustic feedback from the useful sound. Experimental results show that the system performs a very well in acoustic feedback suppression and it's accuracy is 1Hz.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"26 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125677257","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
Algebraic-elimination based solution of inverse kinematics for a humanoid robot finger 基于代数消去的仿人机器人手指运动学逆解
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985629
Ming-Tzong Lin, Hong-Bo Lin, Chung-Ching Liu, Ying-Lung Lin, Che-Hau Wu, Cheng-Wei Tung
{"title":"Algebraic-elimination based solution of inverse kinematics for a humanoid robot finger","authors":"Ming-Tzong Lin, Hong-Bo Lin, Chung-Ching Liu, Ying-Lung Lin, Che-Hau Wu, Cheng-Wei Tung","doi":"10.1109/ICMA.2011.5985629","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985629","url":null,"abstract":"The inverse kinematics is a challenging problem for controlling a humanoid robot finger with nonlinearly coupled joints. In this paper, a novel approach is proposed to derive the algebraic-elimination based solutions of inverse kinematics (IK) for the robot fingers. First, the given position of the fingertip is transformed from the base frame to the solution frames by means of D-H transformation. Therefore, two algebraic equations are obtained using the vector-loop and coordinate transformation techniques. The trigonometric terms can be converted into an eight-degree polynomial by making the substitution of two variables which are relative to the proximal (PIP) and distal interphalangeal (DIP) joint angles. To generate the smooth jerk-limited feedrate profile and interpolation points, a dynamics-based interpolator with real-time look-ahead (DBLA) algorithm is applied to plan the motion trajectory of a robot finger. The iterative Newton-Raphson method with a suitable initial guess is adopted for solving the roots of the polynomial. Finally, simulations are performed to demonstrate the exactness of the proposed inverse kinematics solutions. Experiments using an embedded motion controller are carried out for validating the feasibility of the proposed approach.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130514727","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
RBF based discrete terminal sliding mode control for flight simulator 基于RBF的飞行模拟器离散终端滑模控制
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985680
Y. Chen, Weihong Wang
{"title":"RBF based discrete terminal sliding mode control for flight simulator","authors":"Y. Chen, Weihong Wang","doi":"10.1109/ICMA.2011.5985680","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985680","url":null,"abstract":"A control scheme combining RBF Neural Network (RBFNN) and Discrete Sliding Mode Control (DSMC) is proposed in this paper to achieve high tracking precision for flight simulator servo systems. In this controller, the switching gain of SMC is estimated by RBF Neural Network based on Lyapunov stable theorem, thus the effect of friction and on switch chattering can be alleviated. Moreover, terminal sliding mode is realized by adding terminal function in discrete SMC derivation. With the nonlinear sliding surfaces, system states can reach the equilibrium point in a finite time period. The chattering around the sliding surface in the sliding mode control can be reduced by the proposed design approach. Simulation results are included to illustrate the effectiveness of the proposed controller.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130962278","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
Place recognition based on Latent Dirichlet Allocation 基于潜狄利克雷分配的位置识别
2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985612
Jinfu Yang, Yang Wang, Ming-ai Li, Min Song
{"title":"Place recognition based on Latent Dirichlet Allocation","authors":"Jinfu Yang, Yang Wang, Ming-ai Li, Min Song","doi":"10.1109/ICMA.2011.5985612","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985612","url":null,"abstract":"This paper describes a new scheme based on Latent Dirichlet Allocation for place recognition of mobile robot system. It firstly extracts the local features from the training images, forms a discrete set of “image words” which are commonly known as vocabulary or codebook, and each image is represented as a frequency vector based on this vocabulary. Then the model based on Latent Dirichlet Allocation is used to learn themes distribution in the training set and testing images. Finally the unknown test images are recognized according to the similarity of themes distribution. In order to evaluate the method, we perform it on the IDOL2 Database and our own pictures. Experimental results show that the method has good robustness to different types of variations, including different illumination conditions, different perspective and other changes over long periods in real-world environments.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130411576","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
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