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2008 IEEE Conference on Robotics, Automation and Mechatronics最新文献

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New Robot for Power Line Inspection 新型电力线巡检机器人
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681335
Jaka Katrasnik, F. Pernus, B. Likar
{"title":"New Robot for Power Line Inspection","authors":"Jaka Katrasnik, F. Pernus, B. Likar","doi":"10.1109/RAMECH.2008.4681335","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681335","url":null,"abstract":"Power line inspection is of the utmost importance for the reliability and stability of electric power distribution. However, manual inspection is a hazardous, slow, expensive and unreliable task. Therefore, new highly specialized robots are required to improve the overall quality and safety of the power line inspection. The research conducted so far has been mainly focused on the development of climbing and flying robots. This paper first addresses the main achievements in the field of robotic power line inspection. The proposed solutions are critically assessed and the associated problems are outlined. Based on these findings, a new concept for robot-assisted power line inspection, combining both climbing and flying principles, is proposed in the second part of the paper. The proposed concept is critically assessed and related to the other established concepts so as to demonstrate its advantages and feasibility for a routine power line inspection.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115015543","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: 30
Mobile Robot based Odor Path Estimation via Dynamic Window Approach 基于动态窗口法的移动机器人气味路径估计
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681446
Ji-gong Li, Qing-Hao Meng, Fei Li, Ming-Lu Zhang
{"title":"Mobile Robot based Odor Path Estimation via Dynamic Window Approach","authors":"Ji-gong Li, Qing-Hao Meng, Fei Li, Ming-Lu Zhang","doi":"10.1109/RAMECH.2008.4681446","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681446","url":null,"abstract":"This paper addresses the problem of estimating the odor path which is most likely taken by the odor patch detected by the concentration sensor on a mobile robot moving in an indoor dynamic airflow environment. The odor path estimation is useful for plume tracing and odor source declaration. A novel algorithm for odor path likelihood mapping in the dynamic airflow environment is proposed. The algorithm has a low computation cost by importing the idea of dynamic window approach. Experiments are carried out on the mobile robot in which odor concentration sensor, airflow sensor, encoder and compass are equipped. To extract useable concentration information from the odor sensor, a practicable data preprocessing method is put forward. The experiment results in the indoor dynamic airflow environment show that the odor path can be well estimated online.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114771924","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
Improved Damped Least Squares Solution with Joint Limits, Joint Weights and Comfortable Criteria for Controlling Human-like Figures 带关节极限、关节权值和舒适准则的改进阻尼最小二乘控制仿人图形
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681441
M. Na, Bin Yang, P. Jia
{"title":"Improved Damped Least Squares Solution with Joint Limits, Joint Weights and Comfortable Criteria for Controlling Human-like Figures","authors":"M. Na, Bin Yang, P. Jia","doi":"10.1109/RAMECH.2008.4681441","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681441","url":null,"abstract":"In order to generate natural posture and motion of virtual human-like figures, damped least squares inverse kinematics method is modified. Physical rules of human being like joint limits, joint weights and comfortable criteria are introduced to the design of damping factors for the improved damped least squares solution. The proposed method performs well on guaranteeing joint limit avoidance and producing natural-looking postures. This new scheme is successfully implemented and tested for real-time control of a seven-degree-of-freedom virtual human skeletal upper limb. Experiment results show that the improved solution is more robust and stable than the original damped least squares method.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"97 36","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131879416","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
Modeling and Simulation of Electric-hydraulic Control System for Bending Roll System 弯辊系统电液控制系统建模与仿真
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681470
Zhang Wei, Wang Yiqun, Sun Menghui
{"title":"Modeling and Simulation of Electric-hydraulic Control System for Bending Roll System","authors":"Zhang Wei, Wang Yiqun, Sun Menghui","doi":"10.1109/RAMECH.2008.4681470","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681470","url":null,"abstract":"Hydraulic bending roll system has become one of key equipments to control the exit strip shape in strip rolling mills. The hydraulic bending roll system of a hot rolling mill was researched and analyzed, and its mathematics models were founded in whole based on the action principle of some representative hydraulic components. At last, the hydraulic bending roll system was simulated with MATLAB by computer. It is obvious that the simulation curves are similar to the real response curves very much.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134359030","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
Research on the Nonlinear Governor of Diesel Engine with Variable Structure Control Theory 基于变结构控制理论的柴油机非线性调速器研究
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681393
Xiaofeng Mao, K. Lu
{"title":"Research on the Nonlinear Governor of Diesel Engine with Variable Structure Control Theory","authors":"Xiaofeng Mao, K. Lu","doi":"10.1109/RAMECH.2008.4681393","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681393","url":null,"abstract":"Diesel engine speed control system is one typical nonlinear system. In order to control speed of the single input nonlinear engine, the nonlinear model of the 4135 engine governor is established and the sliding mode variable structure controller is designed in the paper. Simulation in MATLAB has demonstrated that the sliding mode variable structure control is able to respond quickly, robust against system parameters and external disturbances, and able to keep the system stable, obtain strong robustness. This paper solves the problem that for the conventional PID controller, the overshoot is too big, settling and rise times are too long.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134178117","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
Sensors Fault Detection and Diagnosis Based On Morphology-wavelet Algorithm 基于形态-小波算法的传感器故障检测与诊断
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681472
G. Hou, Yi Zhang, Jian-hang Zhang
{"title":"Sensors Fault Detection and Diagnosis Based On Morphology-wavelet Algorithm","authors":"G. Hou, Yi Zhang, Jian-hang Zhang","doi":"10.1109/RAMECH.2008.4681472","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681472","url":null,"abstract":"This paper proposed a novel method to fault detection and diagnosis of sensors using trend analysis of input and output signals related to the sensor itself. Firstly, generalized morphological filter with multi-structure elements is designed to filter the random noise and impulse noise in sensor's input and output signals. And secondly, to effectively extract the incipient fault and abruptly fault characteristic, a wavelet transform was used to decompose and analyze the filtered signals in this paper. Through the multi resolution analysis (MRA), the fault can be located accurately. There typical sensor faults such as fix, gain, bias, drift faults were studied. The simulation results show that this algorithm is capable of locating accurately.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121925746","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
Efficient Speech Emotion Recognition Based on Multisurface Proximal Support Vector Machine 基于多面近端支持向量机的高效语音情感识别
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681444
Chengfu Yang, X. Pu, Xiaobin Wang
{"title":"Efficient Speech Emotion Recognition Based on Multisurface Proximal Support Vector Machine","authors":"Chengfu Yang, X. Pu, Xiaobin Wang","doi":"10.1109/RAMECH.2008.4681444","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681444","url":null,"abstract":"An efficient speech emotion recognition method based on Multisurface Proximal Support Vector Machine (MPSVM) is presented in this paper. Seven primary human emotions including anger, boredom, disgust, fear/anxiety, happiness, neutral, sadness are investigated using cepstral and spectral features. These novel and robust acoustic features and the multisurface proximal support vector machine classifier based on the Gaussian Mixture Models (GMM) are proposed to yield more correct result. In order to get the normal features in speech emotion space, the corpus of Berlin database of emotional speech is used to train the system, and a simple speech emotion corpus in English, French, Slovenian and Spanish recorded by 2 non-professional speakers are used to test the classifiers. The results achieved by MPSVM are compared by that of the standard support vector machine (SSVM) classifier. The more efficient and more accurate results are achieved.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"447 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125775494","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
Sensorless Control of Surface Mounted PMSM and BDCM with New Starting Technique 基于新启动技术的面装PMSM和BDCM无传感器控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681423
M. Eskander, O. Arafa, O. Mahgoub
{"title":"Sensorless Control of Surface Mounted PMSM and BDCM with New Starting Technique","authors":"M. Eskander, O. Arafa, O. Mahgoub","doi":"10.1109/RAMECH.2008.4681423","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681423","url":null,"abstract":"In this paper, an accurate method for sensorless control of permanent magnet brushless motors is explained. The method doesn't include any modification to the classical construction of such motors and can be easily integrated within the drive electronics. It is applicable to both motor types, i.e. those with sinusoidal or trapezoidal back EMF.. The back EMF waveform is extracted on-line using simple algebraic expression through a newly proposed measurement setup. It is then used within the corrective phase of an extended Kalman filter (EKF). A method is proposed to detect rotor position at starting to enable maximum starting torque/ampere at the required direction of rotation. The method functionality is tested by simulation for both motor types. Simulation results show a good performance at very low speed.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126044637","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
Multi-agent Planning for Ship Collision Avoidance 船舶避碰多智能体规划
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681491
Yuhong Liu, Chunsheng Yang, Xuanmin Du
{"title":"Multi-agent Planning for Ship Collision Avoidance","authors":"Yuhong Liu, Chunsheng Yang, Xuanmin Du","doi":"10.1109/RAMECH.2008.4681491","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681491","url":null,"abstract":"Multi-agent based planning techniques have been widely applied to various decision-making support applications. In this paper, we investigate how to apply multi-agent planning to collision avoidance in ship navigation. We have developed three multi-agent-based planning algorithms: the independent planning for self-benefit purpose, the centralized planning for union-benefit purpose and the negotiation-based planning for mutual-benefit purpose. Having introduced collision avoidance planning, we present the developed planning algorithm in detail. We also report the experiments and some results. The experimental results illustrate the feasibility and validity of the multi-agent planning for collision avoidance.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127287826","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
Fault Detection for Networked Control System with Random Delays 随机时延网络控制系统的故障检测
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681400
Yuqiang Chen, Zhen-Guo Duan, Yabin Liu, Rui-Peng Wang
{"title":"Fault Detection for Networked Control System with Random Delays","authors":"Yuqiang Chen, Zhen-Guo Duan, Yabin Liu, Rui-Peng Wang","doi":"10.1109/RAMECH.2008.4681400","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681400","url":null,"abstract":"This paper deals with the fault detection problem for a class of discrete-time networked systems with random delays and disturbance. With the maximum allowable delay, a binary stochastic switching sequence is used to simplify the FDI for NCS. Attention is focused on the design of a fault detection filter, which can be robust for the unknown disturbance. A sufficient condition for the existence of the desired fault detection filter is established in terms of a linear matrix inequality (LMI). A numerical example is provided to illustrate the feasibility and applicability of the proposed techniques.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"2013 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127420652","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
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