2011 IEEE International Conference on Mechatronics and Automation最新文献_第9页

An improved adaptive Kalman filtering algorithm for advanced robot navigation system based on GPS/INS 基于GPS/INS的先进机器人导航系统改进自适应卡尔曼滤波算法

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985803

Xiaochuan Zhao, Yihao Qian, Min Zhang, Jinzhe Niu, Yuxiang Kou

{"title":"An improved adaptive Kalman filtering algorithm for advanced robot navigation system based on GPS/INS","authors":"Xiaochuan Zhao, Yihao Qian, Min Zhang, Jinzhe Niu, Yuxiang Kou","doi":"10.1109/ICMA.2011.5985803","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985803","url":null,"abstract":"Navigation technology plays an important role in the designing of advanced robot. An advanced robot navigation system based on GPS/INS is modeled in this paper. According to the model, the causes of the errors in measurement equation are analyzed, concluding that HDOP (Horizontal Dilution of Precision) and VDOP (Vertical Dilution of Precision) provided by GPS receiver are the crucial factors for the change of measurement noise in the mathematical model. Based on the above conclusion, this paper proposes a novel second order fuzzy self-adaptive filter design. Choosing the differences of location and velocity information provided by GPS receiver and INS device as the inputs, this filter modifies the regulation factor based on the residual sequence statistical information and PDOP (Position Dilution of Precision) provided by GPS receiver to correct the outputs of INS device using fuzzy logic. The experimental results demonstrate that the improved adaptive Kalman filtering algorithm proposed in this paper has a strong adaptability to time-varying measurement noises, which improves precision of the advanced robot navigation.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"28 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":"123990171","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: 17

Modeling and simulation of a jumping frog robot 跳蛙机器人的建模与仿真

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985843

N. Reddy, R. Ray, S. N. Shome

引用次数: 15

The design and implementation of volume adaptive control at worksite 工地体积自适应控制的设计与实现

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5986323

Qi Li, Yanfei Liu, Yan Liu, Y. Mei

引用次数: 0

An FPGA-based VME slave module for industrial control system 一种基于fpga的工业控制系统VME从站模块

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5986354

Hongchi Liu, Xiaoxin Wang, Shutian Zhang

引用次数: 1

Development of the remote monitoring and warning system for operation condition of the main drainage pump in mine 矿井主排水泵运行状态远程监控预警系统的研制

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5986328

S. Fu, Yabin Zhang, Haiqiang Song

{"title":"Development of the remote monitoring and warning system for operation condition of the main drainage pump in mine","authors":"S. Fu, Yabin Zhang, Haiqiang Song","doi":"10.1109/ICMA.2011.5986328","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986328","url":null,"abstract":"The operation condition of the main drainage pumps in mine directly affects the safety production of mine. In order to ensure the mine safety it's essential to real-time monitor the operation condition of the main drainage pumps. This remote monitoring and warning system for the main drainage pumps is mainly divided into the sensor layer at the bottom, the equipment layer on the lower computer and the monitoring layer on the upper computer. The monitoring data acquired by the sensors on the pumps could be real-time collected by the multifunctional monitor in the equipment layer and sent to the monitoring layer, finally the various monitoring parameters could be real-time displayed and stored in database in the monitoring layer developed based on the configuration platform on the upper computer. The system will real-time alarm when the operation condition of pumps is abnormal, therefore various sudden accidents could be avoided. The monitoring parameters could provide objective references for maintenance decision of the pumps in the future. This system being used has good extensibility, modifiability, reliable performance and has significantly enhanced the level of enterprise safety management.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"43 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":"130043053","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

Stairway segmentation using Gabor Filter and vanishing point 楼梯分割使用Gabor滤波器和消失点

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985801

Danilo Cáceres Hernández, K. Jo

引用次数: 15

Industrial applications of chatter stability prediction and monitoring system for turning processes 车削过程颤振稳定性预测与监测系统的工业应用

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5986274

Kaibo Lu, Minqing Jing, Yongqiang Zhang, Heng Liu

{"title":"Industrial applications of chatter stability prediction and monitoring system for turning processes","authors":"Kaibo Lu, Minqing Jing, Yongqiang Zhang, Heng Liu","doi":"10.1109/ICMA.2011.5986274","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986274","url":null,"abstract":"Chatter vibrations result in poor surface finish, reduced productivity, and shortened tool life in metal cutting. Although chatter stability and monitoring techniques are broadly studied in literature, the deployment of process monitoring system in the shop floor still presents a challenge. In this paper, we have constructed an online prototype system for industrial applications including two independent modules of chatter stability prediction and monitoring cooperatively. Turning processes are considered. Firstly, the stability charts are evaluated analytically by the application of the Laplace transform. The charts obtained can assist the operators in choosing appropriate cutting parameters before machining. Secondly, the characteristics of chatter are extracted in the time and frequency domains. The norm of chatter arising is formulated in accordance with the variance and spectrum of vibration signals. The corresponding threshold is confirmed relatively in comparison with the characteristics of stable cutting states recorded in the reference database. Thirdly, the algorithms and modules introduced are implemented with the combination of the advantages of MATLAB and C# programming, in which delay strategy and overlap processing can improve the accuracy and performance of the system. Finally, the effectiveness of the techniques and system presented here was verified by experimental results of the industrial machining trials.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"52 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":"130579697","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

The nonlinearity compensation of piezoresistive sensor based on Levenberg-Marquardt algorithm 基于Levenberg-Marquardt算法的压阻传感器非线性补偿

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5986308

Dacheng Xu, Zhen Lei

引用次数: 2

DVL aided fine alignment for marine SINS DVL辅助船用捷联惯导系统精细对准

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985958

Yueyang Ben, Zhongjun Zhu, Qian Li, Xiao Wu

引用次数: 7

Research of Agile Virtual Enterprise established based on combinatorial optimization model 基于组合优化模型建立的敏捷虚拟企业研究

2011 IEEE International Conference on Mechatronics and Automation Pub Date : 2011-08-15 DOI: 10.1109/ICMA.2011.5985841

T. Zhang, T. Yu, Wanshan Wang

引用次数: 0