2013 IEEE International Conference on Mechatronics and Automation最新文献

Multi-robot exploration using potential games 使用潜在游戏的多机器人探索

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2014-02-12 DOI: 10.1109/icma.2013.6618085

George Philip, S. Givigi, H. Schwartz

引用次数: 2

Robust control of systems with RHP zeros and poles via disturbance observer 基于扰动观测器的RHP零极点系统鲁棒控制

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-11-25 DOI: 10.1109/ICMA.2013.6617950

E. Sariyildiz, K. Ohnishi

{"title":"Robust control of systems with RHP zeros and poles via disturbance observer","authors":"E. Sariyildiz, K. Ohnishi","doi":"10.1109/ICMA.2013.6617950","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617950","url":null,"abstract":"Non-minimum phase plants cause fundamental design constraints, such as bandwidth limitation, in the feed-back control systems due to their peculiar phase characteristics. Therefore, the control problem of non-minimum phase systems is quantifiably harder than the minimum phase's one. Furthermore, the control problem becomes more severe in the presence of system uncertainties and external disturbances. In this paper, we propose a disturbance observer (DOB) based solution for the robust control problem of non-minimum phase systems. This paper shows that non-minimum phase systems limit the DOB's bandwidth, which is one of the most significant design parameters in the DOB based robust control systems, to satisfy robustness. The Poisson integral formula is utilized so that the bandwidth limitations are derived analytically. As a result, a new analysis and design tool is proposed for the robust control problem of non-minimum phase systems by using the DOB. The proposed method is implemented into two different non-minimum phase plant models, which have right half plane (RHP) zero and pole, and its validity is shown by given simulation results.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127106531","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

Topology selection and analysis of actuator for seat valves suitable for use in Digital Displacement pumps/motors 适用于数字排量泵/电机的阀座阀执行器的拓扑选择和分析

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617955

D. Roemer, P. Johansen, H. Pedersen, T. Andersen

{"title":"Topology selection and analysis of actuator for seat valves suitable for use in Digital Displacement pumps/motors","authors":"D. Roemer, P. Johansen, H. Pedersen, T. Andersen","doi":"10.1109/ICMA.2013.6617955","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617955","url":null,"abstract":"Digital Displacement (DD) Fluid Power is an upcoming technology setting new standards for the achievable efficiency of fluid power pumps and motors. To enable high efficiency operation fast switching electronically controlled seat valves are needed, preferably exhibiting very low flow pressure loss and switching times within a few milliseconds. These valves are mechatronic components and attention to both the electromagnetic, fluid dynamical, mechanical and control system design must be paid to ensure the needed performance. In the present work, a quick response linear electro-magnetic actuator for DD seat valves is developed, and the resulting dynamic response of the seat valve is presented. Requirements for the valve actuator is established based on the DD application, and three feasible actuator topologies are analyzed by means of transient electro-magnetic FEA simulation. From this analysis a moving coil actuator topology is selected for the DD valve. A lumped parameter model including magnetic diffusion effects of this chosen actuator is developed, which is included in the dynamic valve simulation. Result show a switching time below 2 ms and a pressure loss below 0.5 bar at 500 litres/minute for the proposed DD seat valve.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115138547","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: 8

3D environmental mapping of mobile robot using a low-cost depth camera 基于低成本深度相机的移动机器人三维环境映射

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617969

K. Qian, Xudong Ma, Fang Fang, Hong Yang

引用次数: 3

A pruning robot with a power-saving chainsaw drive 带有节电链锯驱动的修剪机器人

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618088

Y. Ishigure, Katsuyuki Hirai, H. Kawasaki

引用次数: 22

Measurement of dynamic sampling period of multi mobile robots system with wireless communication 基于无线通信的多移动机器人系统动态采样周期测量

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618075

A. Otsuka, F. Nagata, T. Okino

{"title":"Measurement of dynamic sampling period of multi mobile robots system with wireless communication","authors":"A. Otsuka, F. Nagata, T. Okino","doi":"10.1109/ICMA.2013.6618075","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618075","url":null,"abstract":"Until now, we have established the multi mobile robot system based on the wireless communication and subsumption architecture. In this system, a command is decided in the supervisory server based on subsumption architecture. The server transmits a command packet to each mobile robot by wireless communication. Each mobile robot moves based on the command while transmitting a response packet including sensor information to the server. The sensor information is used as the inputs for agents in the subsumption architecture. The communication time is important factor in this system because it influences the control period directly. The communication speed of multiple mobile robots is not so fast, because this system is designed based on miming a simple insect, so that the robots are composed of low cost components. Measuring the communication time is required to realize a suitable control system. The communication time is variable so we define the dynamic sampling period as the communication time between a PC server and each robot. In this paper, dynamic sampling period of multi mobile robot system is measured with the resolution of the 2 ms using multi media timer on Windows system. Furthermore, the success rate of communication is also measured, which is defined as the reception number of times divided by the transmission number of times. The results help us to design the control system based on subsumption architecture, such as layering agents, adding other agents and improving agent's behavior.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"274 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120895205","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

Hierarchical key frames extraction for WCE video WCE视频的分层关键帧提取

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617922

Yixuan Yuan, M. Meng

引用次数: 26

Pulse transit time measurement method with artifact tolerance for home healthcare 家庭保健中具有伪影容限的脉冲传递时间测量方法

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618036

N. Shiraishi, Y. Sankai

{"title":"Pulse transit time measurement method with artifact tolerance for home healthcare","authors":"N. Shiraishi, Y. Sankai","doi":"10.1109/ICMA.2013.6618036","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618036","url":null,"abstract":"To measure the arterial stiffness at home is important in order to prevent and treat arteriosclerosis. Pulse wave velocity (PWV) is one of the indexes of arterial stiffness. We have proposed a device that measures PWV at home. The device measures pulse transit time (PTT) and calculates PWV using the PTT. The PTT measurement is used electrocardiogram (ECG) and photoplethysmogram (PPTG). The operator of the device is user oneself. At home, it is difficult to judge whether the measurement condition is appropriate because medical staff is not at home. Motion artifacts are problem that occur as well. The method with artifact tolerance is useful for both increasing the measuring precision and decreasing re-measurement to suppress the motion artifact automatically. Therefore, the purpose of this research is to propose a pulse transit time measurement method with artifact tolerance, and to evaluate its measurement precision. We proposed the method that outlier of PTT is excluded using an average and a standard deviation (SD). The average and the SD are calculated using R-wave and peaks of PPTG in 30 seconds. An experiment that ECG or PPTG has deliberate motion artifacts was performed with developed measurement system. To evaluate, we used the developed measurement system that has the pulse transit time measurement method with artifact tolerance. Precision of the measurement system was 7.97% when ECG or PPTG with the artifact. It was smaller than 8.4% that is precision of the existing medical equipment. Therefore the proposal method that has sufficient artifact tolerance was confirmed.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127511241","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 new method on foot rolling trajectory generation for human-like bipedal walking 类人双足行走中足部滚动轨迹生成的新方法

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618024

D. Luo, Jianwei Qiu, Yi Wang, Hongshi Huang, Xihong Wu

{"title":"A new method on foot rolling trajectory generation for human-like bipedal walking","authors":"D. Luo, Jianwei Qiu, Yi Wang, Hongshi Huang, Xihong Wu","doi":"10.1109/ICMA.2013.6618024","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618024","url":null,"abstract":"Acquiring human-like locomotion capability with stable, flexible and natural characteristics for humanoid robot is still a great challenge in the area of robotics, and attracts plenty of researchers in past decades. An immediate standpoint is to learn from human behavior, which leads the utilizing of Human Motion Capture Data (HMCD) to be a hot research topic. In this paper, among many most expressive characteristics of human locomotion behavior, foot rolling regarding to ankle movement is focused. Unlike most previous researches where robot ankle trajectory is directly obtained from HMCD, in this research, it is achieved through a constructed transformation function based on human Center of Pressure (COP) movement. The contribution of this research lies in following two aspects. First, through the analysis on the plantar pressure data collected from 32 healthy college students by footscan® system, it is revealed that human COP movement is fairly stable for human natural walking behavior. Second, to achieve a human-like robot ankle movement, a proper transformation function based on robust COP trajectory is introduced through the analysis on entire human foot rolling motion during walking. It is believed that a robust characteristic indicating the invariance of human motion should be the first choice in building human-like robot motion controller. With the obtained ankle trajectory, a human-like robot walking is learned and demonstrated on a humanoid robot PKU-HR5. The performance illustrates that the proposed new method is effective and promising.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"36 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125869181","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

A Set of Basic Movement Primitives for Anthropomorphic Arms 拟人手臂的一组基本运动原语

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617991

Cheng Fang, Xilun Ding

{"title":"A Set of Basic Movement Primitives for Anthropomorphic Arms","authors":"Cheng Fang, Xilun Ding","doi":"10.1109/ICMA.2013.6617991","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617991","url":null,"abstract":"According to increasing demands on accomplishing the complicated tasks anthropomorphic arms are facing and the diversity of the anthropomorphic arm platform, a novel and unified task-motion planning method for anthropomorphic arms is investigated in this paper. Firstly, inspired by the discovery of the movement primitive in human arm motion from Neurophysiology, a three-level task-motion planning framework “joint space-movement primitive space-task space” is proposed, which can plan and describe complicated tasks in a flexible modular manner. Next, a human arm triangle space is proposed to intuitively represent the instantaneous status of the movement primitive. Based on that, the kinematics of the anthropomorphic arm containing human arm triangle space is established, which lays a solid foundation for the complete control of the motion process for arms. Then, four basic movement primitives, “moving on a working plane”, “switching different working planes”, “translating the hand”, and “rotating the hand about a fixed axis”, are designed according to the composition motion principle of rigid body and a human arm motion principle that the human arm tends to move on a fixed plane. All kinds of the complicated tasks can be achieved by combining these four movement primitives appropriately. Because the human arm triangle space is structure-and-dimension-independent of the specific arm, the proposed method is applicable to different anthropomorphic arm platforms, thus has the advantage in generality. Finally, the superiority of this method is verified by comparing with a traditional method.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116007483","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