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

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An improved quadric error metrics based on feature matrix 基于特征矩阵的改进二次误差度量
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690880
Lihong Xu, Weihai Chen, Jingmeng Liu, Tao Lv
{"title":"An improved quadric error metrics based on feature matrix","authors":"Lihong Xu, Weihai Chen, Jingmeng Liu, Tao Lv","doi":"10.1109/RAMECH.2008.4690880","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690880","url":null,"abstract":"The research on the base of Quadric Error Metrics (QEM) has provided some excellent eclectic methods of model approximation and time cost for mesh simplification. However, there are still some deficiencies in these methods to be settled, such as ignoring some important features and excessive simplification in some parts of the model, etc. To preserve the important geometric features, the paper has presented an improved method based on Garland¿s QEM by integrating a feature matrix into the approximating error with quadrics of the vertex. The new matrix based on the geometric importance and the area attribution of a vertex are considered together and used for changing the order of edge collapse in the simplification. It is shown by the experimental results that the proposed algorithm can not only be highly efficient in terms of both space and time cost, but also get highly quality approximation of the original model with the important features well preserved.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114827713","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
A new algorithm research and simulation for permanent magnet synchronous motor ac servo system 永磁同步电机交流伺服系统的新算法研究与仿真
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690886
Jingmeng Liu, Tianmiao Wang, Dong Xu, Linan Cong
{"title":"A new algorithm research and simulation for permanent magnet synchronous motor ac servo system","authors":"Jingmeng Liu, Tianmiao Wang, Dong Xu, Linan Cong","doi":"10.1109/RAMECH.2008.4690886","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690886","url":null,"abstract":"In this paper, the block diagram of the principles and the structure of the PMSM ac servo vector controlling system are described. The distinct features of the system are to replace electric current hysteresis controller with SVPWM. Besides, the paper introduces the principle of space voltage vector PWM (SVPWM) and the algorithm of SVPWM and also introduces the function of every module. Moreover, it introduces how to apply SVPWM algorithm into the computer to increase the efficiency of calculating ,and gives the Simulink simulation diagram of current and speed double closed loop. And it analyses the structure and realization method of inside modules of SVPWM system and offers the simulation waveforms of permanent-magnetic synchronous motor servo system","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134119118","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: 5
A general robot application platform for machine tending 一个通用的机器护理机器人应用平台
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690867
Du Li, Yongzhi Huang
{"title":"A general robot application platform for machine tending","authors":"Du Li, Yongzhi Huang","doi":"10.1109/RAMECH.2008.4690867","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690867","url":null,"abstract":"A general robot application platform in machine tending area is presented in this paper. This new robot application platform is mainly about the common machine tending application architecture, which provides a general solution for easy robot programming and operation, for robot and machine integration and for the interaction between online and offline programming.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130948149","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
A novel design of flexible foot system for humanoid robot 一种新型仿人机器人柔性足部系统设计
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690883
Hongqiao Yang, M. Shuai, Z. Qiu, H. Wei, Q. Zheng
{"title":"A novel design of flexible foot system for humanoid robot","authors":"Hongqiao Yang, M. Shuai, Z. Qiu, H. Wei, Q. Zheng","doi":"10.1109/RAMECH.2008.4690883","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690883","url":null,"abstract":"The Large-scale uneven ground is mostly unsmooth and in the irregular state in which the irregularity is usually unknown (such as footway, carriageway, unexplored desert, mountainous area, surface of the Mars). In order to walk steadily and rapidly on such ground, a chief problem to overcome is that the humanoid robot¿s foot is not matching with the unknown model of the ground. Therefore, the humanoid robot¿s foot should have the flexibility mimic the human¿s foot, and can adapt to and steadily interacted with any unsmooth ground. Also interferences and disjoints between soles and irregular unsmooth ground should be avoided. Aiming at solving the key problem for humanoid robot to steadily and rapidly walk on the large-scale and three- dimension uneven ground, we¿ve set up a new multidegree- of-freedom flexible foot mechanism which can make the humanoid robot¿s walking gesture and gait automatically adapt to the terrain, and then carry out the research of the globally stable control of the gait. The flexibility can obviously improve the humanoid robot¿s walking stability and speediness on the large-scale uneven ground.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125852603","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
An improved BP neural network based on GA for 3D laser data repairing 基于遗传算法的改进BP神经网络用于三维激光数据修复
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690878
Shouqian Yu, Lixia Rong, Weihai Chen, Xingming Wu
{"title":"An improved BP neural network based on GA for 3D laser data repairing","authors":"Shouqian Yu, Lixia Rong, Weihai Chen, Xingming Wu","doi":"10.1109/RAMECH.2008.4690878","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690878","url":null,"abstract":"Affected by scanning object, environment, scanning speed and user¿s operation .etc, some information of the object¿s surface can¿t be detected by the laser scanner. Aiming at the data loss in laser detecting , the paper presents an improved BP neural network based on GA for 3D laser data repairing, the novelty of this method is adopting Genetic Algorithm(GA) to optimize the configure and weight of network, and at the same time combining Back Propagation(BP) Algorithm to find optimal approximation. The simulation shows the improved BP neural network based on GA has a faster constringency speed and better repairing precision than traditional BP neural network and GA algorithm. Lastly, the paper gives the result of repairing the point cloud collected by 3D information reconstruction system using this network","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133033435","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
The research on the control system of the minimally invasive surgical robot 微创手术机器人控制系统的研究
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690884
Da Liu, Linan Cong, Jingmeng Liu, Dong Xu
{"title":"The research on the control system of the minimally invasive surgical robot","authors":"Da Liu, Linan Cong, Jingmeng Liu, Dong Xu","doi":"10.1109/RAMECH.2008.4690884","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690884","url":null,"abstract":"This paper presents a robotics control system of the parallel serial robot for the minimally invasive surgery. Respectively, for the serial part, which is a 6 degree of freedom mechanical arm, this system presents a control unit based on the Field Programmable Gate Array and a transmission unit based on the Universal Serial Bus; for the parallel part, which is a 4 degree of freedom structure, this paper discusses a method based on the PID parameters debugging of the Programmable Multi Axes Controller. This control system with the parallel serial robot is the newest member of a growing family of minimally invasive surgical robots under development.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129168044","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
Achievable environment rigidity of a haptic display to guarantee stability 可实现环境刚性的触觉显示，保证稳定性
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690887
Hongqiao Luo, Honglin Liu, Chengrong Li, Yuru Zhang
{"title":"Achievable environment rigidity of a haptic display to guarantee stability","authors":"Hongqiao Luo, Honglin Liu, Chengrong Li, Yuru Zhang","doi":"10.1109/RAMECH.2008.4690887","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690887","url":null,"abstract":"To study the effect of transmission stiffness on the stability of a haptic display in virtual reality, a one-DOF(degree of freedom) haptic display system is modeled as a two-port electric network, and its absolute stable condition is provided according to two-port stable theory. Stability of a haptic display system can be evaluated by the achievable spring rigidity when displaying a parallel spring and damping virtual environment. The suggested absolute stable condition meets well with what is already generally accepted when the transmission stiffness trends to be infinite. Lastly the PHANToMDesktop is equivalent to be one-DOF on the manipulating space, and method for analyzing the stability and dynamic isotropy of analogous multi-DOF device is provided. Experimental results based on PHANToMDesktop show that the transmission stiffness has large effect on system stability.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133109788","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
Virtual engineering: model based off-line programming method for industrial robot 虚拟工程:基于模型的工业机器人离线编程方法
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690872
X. Yin, Li Tao
{"title":"Virtual engineering: model based off-line programming method for industrial robot","authors":"X. Yin, Li Tao","doi":"10.1109/RAMECH.2008.4690872","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690872","url":null,"abstract":"this paper introduces the basic knowledge of machining process and compares the traditional methods of offline generating tool paths from surface of a CAD model. Based on that it comes up with a model for machining procedure and then a pattern based programming method is demonstrated; it also discusses target orientation adjustment and an algorithm for how to set spin angle according to the given tool working range is presented.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132318640","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
Robotic machining: material removal rate control with a flexible manipulator 机器人加工:用柔性机械手控制材料的去除率
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690881
H. Zhang, Z. Pan
{"title":"Robotic machining: material removal rate control with a flexible manipulator","authors":"H. Zhang, Z. Pan","doi":"10.1109/RAMECH.2008.4690881","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690881","url":null,"abstract":"Practical material removal rate (MRR) control strategies for industrial robot are presented in this paper. Based on a force control platform, both force signal and spindle power information could be used for MRR measurement. Three different control methods, PI control, adaptive control and fuzzy control, are implemented to satisfy various process requirements. Performance and experimental results are presented and compared. With controlled material removal rate (CMRR), the productivity of robotic machining process could be increased dramatically.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123428245","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: 15
A distributed location algorithm for underground miners based on rescue robot and coal-mining wireless sensor networks 基于救援机器人和煤矿无线传感器网络的井下矿工分布式定位算法
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-12-02 DOI: 10.1109/RAMECH.2008.4690866
Zhongmin Pei, Zhidong Deng
{"title":"A distributed location algorithm for underground miners based on rescue robot and coal-mining wireless sensor networks","authors":"Zhongmin Pei, Zhidong Deng","doi":"10.1109/RAMECH.2008.4690866","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4690866","url":null,"abstract":"Rescue robot places an important role when any severe disaster in underground coal mine happens. To locate and keep a track of miners working in a well becomes an impossible completed mission once the well communication infrastructure is all destroyed due to the disasters such as fire damp explosion. Wireless sensor networks, together with underground mine rescue robot provide a potential solution for the challenges in terms of many unique advantages of the wireless sensor networks like random deployments of nodes and network self-organized multi-hops. In this paper, a new coal-mining wireless sensor network (C-WSN) is developed. We propose a distributed system architecture and an improved location algorithm for rescue robot based on radio signal strength indicator (RSSI). The experimental results are analyzed. Finally, we draw conclusion and address the future work.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129039644","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: 5
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