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

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Image-based Visual Servoing of a Real Robot Using a Quaternion Formulation 基于四元数公式的真实机器人图像视觉伺服
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681525
T. Koenig, Yuanquiang Dong, G. DeSouza
{"title":"Image-based Visual Servoing of a Real Robot Using a Quaternion Formulation","authors":"T. Koenig, Yuanquiang Dong, G. DeSouza","doi":"10.1109/RAMECH.2008.4681525","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681525","url":null,"abstract":"In this paper we present the results from our visual servoing system for a real industrial robot. In contrast to other visual servoing system in the literature, the one presented here, which was derived from [4], uses a quaternion representation of the rotation instead of the more common matrix representation. By doing so, the proposed system avoids potential singularities introduced by the rotational matrix representation. After performing exhaustive tests in a simulated environment, our controller was applied to a Kawasaki UX150. In the case of simulation, the movement of the camera and the image processing were performed using Matlab-Simulink, which allowed us to test the controller regardless of the mechanism in which the camera was moved and the underlying controller that was needed for this movement. In the case of the real robot, the controller was tested initially using another simulation program provided by Kawasaki Japan and later with the real Kawasaki robot. The setup for testing and the results for all three cases above are presented here, but for more details on the simulations, the reader is encouraged to check [8].","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"24 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":"129134650","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
A Spoke-Wheel Based Wall-climbing Robot 基于辐条轮的爬墙机器人
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681371
Joseph A. Custodio, Yunfeng Wang
{"title":"A Spoke-Wheel Based Wall-climbing Robot","authors":"Joseph A. Custodio, Yunfeng Wang","doi":"10.1109/RAMECH.2008.4681371","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681371","url":null,"abstract":"Biomimetics and biorobotics form a thriving field of modern scientific research endeavors. The development of wall-climbing robots boasts a wide array of potential real-world applications. With this technology still in progression, a simple and fundamentally sound robot has been created to serve as a test bed and proof-of-concept robot. The developed robot is inspired by the concept of Mini-WhegsTM robot. It features more robust compliant adhesive feet, a preloading tail and modular design with inexpensive educational parts. Experiments have demonstrated the capabilities of this robot such as traversing horizontal, oblique, and vertical smooth surfaces, \"walking\" upside down and making the transition between orthogonal surfaces.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"24 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":"129207834","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
Design and Real-Time Implementation of an Internal Model Speed Control for an Induction Motor 感应电机内模速度控制的设计与实时实现
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681457
H. Mohamed, Soo Siang Yang, Mahmoud Moghavvemi
{"title":"Design and Real-Time Implementation of an Internal Model Speed Control for an Induction Motor","authors":"H. Mohamed, Soo Siang Yang, Mahmoud Moghavvemi","doi":"10.1109/RAMECH.2008.4681457","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681457","url":null,"abstract":"This paper carries out the design and real time implementation of an internal model controller (IMC) to control the speed of an induction motor and precisely a squirrel cage type. The scheme in this paper is constructed using a model and a controller both being artificial neural network (ANN) based. This ANN-based control scheme has been chosen because of its ability to handle the strong nonlinearities of the induction motor. The performance of the controller is tested by applying different types of input signals as well as load torque disturbances. Whether loaded or unloaded, the proposed internal model controller has proved to achieve high performance and accuracy.","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":"130853923","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
A New Approach to Control of Robot 机器人控制的一种新方法
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681475
A.A. Tootoonchi, M. Gharib, Y. Farzaneh
{"title":"A New Approach to Control of Robot","authors":"A.A. Tootoonchi, M. Gharib, Y. Farzaneh","doi":"10.1109/RAMECH.2008.4681475","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681475","url":null,"abstract":"In this paper, a new and simple method to design a robust controller for a robotic system is proposed. The presented work expands on previous research into the uses of robust control design methodology. Specifically, we combined quantitative feedback theory (QFT) with the fuzzy logic controller (FLC). This combination takes advantage of both methodologies. The hybrid controller could be utilized to control a class of nonlinear systems, where the plant is expressed as a linear model with time varying parameters. In order to illustrate the utility of our algorithm, we apply it to a robot arm having two degrees of freedom. A desired trajectory is specified. First, a robust QFT controller is designed for each link of the robot arm. QFT controller is used to follow the desired trajectory. Next, an appropriate fuzzy controller is designed to alleviate the complexities of the system dynamics. Lastly nonlinear simulation for tracking problem in an arbitrary path has been carried out which indicates successful design of QFT and fuzzy controllers.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"61 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":"133014884","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
Two Types of Biologically-Inspired Mesoscale Quadruped Robots 两种生物启发的中尺度四足机器人
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681384
Thanhtam Ho, Sangyoon Lee
{"title":"Two Types of Biologically-Inspired Mesoscale Quadruped Robots","authors":"Thanhtam Ho, Sangyoon Lee","doi":"10.1109/RAMECH.2008.4681384","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681384","url":null,"abstract":"This paper introduces two kinds of mesoscale (12 cm), four-legged mobile robots whose locomotions are implemented by two pieces of piezocomposite actuators. The design of robot leg mechanism is inspired by the leg structure of biological creatures in a simplified fashion. The two prototype robots employ the walking and bounding locomotion gaits as a gait pattern. From numerous computer simulations and experiments, it is found that the bounding robot is superior to the walking one in the ability to carry a load at a fairly high velocity. However from the standpoint of agility of motions and ability of turning, the walking robot is found to have a clear advantage. In addition, the development of a small power supply circuit that is planned to be installed in the prototype is reported. Considering all the results, the two prototypes and the power supply indicate a strong progress toward an autonomous legged robot actuated by piezocomposite materials.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"26 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":"133419671","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
Optical Mouse Array Position Calibration for Mobile Robot Velocity Estimation 用于移动机器人速度估计的光学鼠标阵列位置标定
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681407
Sungbok Kim, Sanghyup Lee
{"title":"Optical Mouse Array Position Calibration for Mobile Robot Velocity Estimation","authors":"Sungbok Kim, Sanghyup Lee","doi":"10.1109/RAMECH.2008.4681407","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681407","url":null,"abstract":"This paper presents the position calibration of a polygonal array of optical mice for improved mobile robot velocity estimation using optical mice. First, the least squares velocity estimate of an omnidirectional mobile robot is obtained as the simple average of the velocity measurements from optical mice. Second, the sensitivity of the least squares velocity estimation to an imprecisely installed optical mouse array is analyzed. Third, with the aid of other accurate sensors, for example, wheel encoders, a simple but effective calibration for imperfect optical mouse array position is proposed. Finally, the position calibration of a regular triangular optical mouse array is given to demonstrate the effectiveness of the proposed method.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"102 4 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":"131334822","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 the Model of Iron and Steel Enterprises Group Production Scheduling Orienting to Group Enterprises Management Pattern 面向集团化企业管理模式的钢铁企业集团生产调度模型研究
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681508
Xiaobing Liu, Yuchun Wang
{"title":"Research on the Model of Iron and Steel Enterprises Group Production Scheduling Orienting to Group Enterprises Management Pattern","authors":"Xiaobing Liu, Yuchun Wang","doi":"10.1109/RAMECH.2008.4681508","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681508","url":null,"abstract":"In order to satisfy the demand of iron & steel enterprises on group-oriented management pattern and resolve the difficulties in the whole management, control and scheduling on every stock company, a linear 0-1 programming model orienting to group enterprises management pattern is proposed by analyzing the characteristics of iron & steel group enterprises management pattern. The objective is to maximize the profit of iron and steel enterprises group. In the model, the constraints of equipments capabilities and resources configuration in each corporation are considered enough. The optimal group scheduling result of the market orders can be obtained by solving the 0-1 programming model. Finally, the application case of the model is represented, and the results show that the algorithm model is valid and feasible for practical application.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"39 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":"124451592","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
Application of the Optimal Input Design in Shaking Table Experimental System 最优输入设计在振动台实验系统中的应用
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681460
Jianqiu Chen, Xinzheng Zhang, P. Tan, F. Zhou
{"title":"Application of the Optimal Input Design in Shaking Table Experimental System","authors":"Jianqiu Chen, Xinzheng Zhang, P. Tan, F. Zhou","doi":"10.1109/RAMECH.2008.4681460","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681460","url":null,"abstract":"This paper focuses on the optimal input design question of white noise drive signal for the simulated earthquake shaking table experimental system. The input sequence is white processed by doubly stochastic interchange optimized algorithm which has been improved in this paper, and the operating speed has obviously been expedited. Thus the white noise drive signal can satisfy conditions of the optimal input to a certain extent, and the experimental time won't be so longer.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"6 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":"124581831","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
Modeling and Intelligent Control of Vehicle Active Suspension System 汽车主动悬架系统建模与智能控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681376
Jianmin Sun, Qingmei Yang
{"title":"Modeling and Intelligent Control of Vehicle Active Suspension System","authors":"Jianmin Sun, Qingmei Yang","doi":"10.1109/RAMECH.2008.4681376","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681376","url":null,"abstract":"Due to the inherent nonlinear nature of vehicle fluid damper, an intelligent control algorithm which fuzzy control rule table can be obtained with the numerical calculation is advanced. The algorithm can adjust the rectification factor of fuzzy controller by adaptive filter method. Suspension dynamics are modeled using a two degree-of-freedom, linear and time-invariant vehicle model. The acceleration of the sprung mass is included in the premise part of the fuzzy rules to reduce the vertical acceleration of the sprung mass. For riding comfort and handling safety of vehicle, the simulation of vehicle performance in road signal is studied. Its results show the intelligent controller can effectively control the vibration of vehicle system and reduce the acceleration of the sprung mass.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"5 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":"114368506","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: 9
The Depth Information Estimation of Microscope Defocus Image Based-on Markov Random Field 基于马尔科夫随机场的显微镜离焦图像深度信息估计
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681326
Xiangjin Zeng, Xinhan Huang, Min Wang, Peng Li
{"title":"The Depth Information Estimation of Microscope Defocus Image Based-on Markov Random Field","authors":"Xiangjin Zeng, Xinhan Huang, Min Wang, Peng Li","doi":"10.1109/RAMECH.2008.4681326","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681326","url":null,"abstract":"For depth information estimation of microscope defocus image, a blur parameter model of defocus image based on Markov random field has been present. It converts problem of depth estimation into optimization problem. An improved iterated conditional modes algorithm has been applied to complete optimization problem, which the select of initial point employed least squares estimate algorithm prevents that the result gets into local optimization. The experiments and simulations prove that the model and algorithm is efficiency.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"25 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":"116907003","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
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