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2013 IEEE International Conference on Mechatronics and Automation最新文献

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Vanishing point detection based on slope trend for omnidirectional vision-based robot localization 基于斜率趋势的消失点检测全向视觉机器人定位
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618062
Jun-Yu Yang, Feng‐Li Lian
{"title":"Vanishing point detection based on slope trend for omnidirectional vision-based robot localization","authors":"Jun-Yu Yang, Feng‐Li Lian","doi":"10.1109/ICMA.2013.6618062","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618062","url":null,"abstract":"This paper proposes one novel method to detect vanishing points in indoor environment. The original environmental data are from a standard omnidirectional camera equipped on one mobile robot. The orientation information in the panoramic image captured by the omnidirectional camera is computed by any standard edge detection, and further analyzed by the proposed slope trend approach. Related experimental studies in different scenarios are performed to demonstrate the feasibility of the approach.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"9 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":"114695611","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
A temperature compensation algorithm of piezoresistive pressure sensor and software implementation 一种压阻式压力传感器的温度补偿算法及软件实现
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618178
Dacheng Xu, Yongtao Liu
{"title":"A temperature compensation algorithm of piezoresistive pressure sensor and software implementation","authors":"Dacheng Xu, Yongtao Liu","doi":"10.1109/ICMA.2013.6618178","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618178","url":null,"abstract":"The thermal zero drift and thermal sensitivity drift of piezoresistive pressure sensor plays a great role in the total error, so how to make this kind of error get effective compensation is significant for its performance. It is an effective method that establishing high-order temperature compensation model for silicon piezoresistive sensors and compensating temperature error, and put forward a fitting coefficient adjustment method on this model basis. The paper has been realized the calculation of temperature compensation by Matlab GUI. Experimental results show that nonlinearity error is less than 0.4% F.S.","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":"116938865","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
Performance improvement of networked Just-In-Time control for pneumatic artificial muscles 气动人工肌肉网络化实时控制的性能改进
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617894
T. Kosaki, Riki Yamada, M. Sano
{"title":"Performance improvement of networked Just-In-Time control for pneumatic artificial muscles","authors":"T. Kosaki, Riki Yamada, M. Sano","doi":"10.1109/ICMA.2013.6617894","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617894","url":null,"abstract":"Here we present techniques for improving the performance of our previously proposed networked Just-In-Time (JIT) control, which is based on a client-server architecture via the Internet. In this control, a database for the JIT control is stored on a server and shared with clients. The clients communicate mutually with the server through the Internet at a constant interval, and they feed control commands to their respective plants. However, since the communication between a client and a server involves a time delay, and since the overgrowth of a database prolongs the time required to process data, in the present study an algorithm for storing data in a database and for handling data of the database in a shorter time was incorporated into the server. In addition, because a longer communication time extends the interval for adding a JIT control command and causes performance deterioration, we vectorized the sending and receiving control commands to reduce such deterioration. The experimental results for a pneumatic artificial muscle test apparatus showed that the control system with the proposed techniques achieved higher performance than that developed in our previous work.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"6 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":"117291175","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
An approach for state observation in dynamical systems based on the twisting algorithm 基于扭转算法的动态系统状态观测方法
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618060
Lasse Schmidt, T. Andersen, H. Pedersen
{"title":"An approach for state observation in dynamical systems based on the twisting algorithm","authors":"Lasse Schmidt, T. Andersen, H. Pedersen","doi":"10.1109/ICMA.2013.6618060","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618060","url":null,"abstract":"This paper discusses a novel approach for state estimation in dynamical systems, with the special focus on hydraulic valve-cylinder drives. The proposed observer structure is based on the framework of the so-called twisting algorithm. This algorithm utilizes the sign of the state being the target for the observation, not directly implying its applicability for state observation. However it is shown that in the discrete case this approach may be applied to obtain a real time derivative using an intermediate integral process. Furthermore, different types of gains for the algorithm are suggested and analyzed via Lyapunov arguments, and a special version of the observer is proposed specifically for hydraulic drives utilizing online available plant information. The proposed observer with different observer gains are subjected to simulation studies in order to evaluate the exact properties, and results confirm that the proposed observer structure is easily implemented, produces very limited phase shift and is highly robust toward measurement noise.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"200 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":"123528525","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
Development of an indoor patrol robot based on ultrasonic and vision data fusion 基于超声与视觉数据融合的室内巡逻机器人研制
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618090
Jong-Hann Jean, Jheng-Liang Wang
{"title":"Development of an indoor patrol robot based on ultrasonic and vision data fusion","authors":"Jong-Hann Jean, Jheng-Liang Wang","doi":"10.1109/ICMA.2013.6618090","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618090","url":null,"abstract":"In this paper we present the development and implementation of a patrol robot for indoor environments. First, we propose an indoor patrol strategy by using ultrasonic sensors. According to the gathered range information of the environment, we apply the wall-following strategy to design of patrol rules for determining the navigation commands of the patrol robot. Then we design a steering controller based on the potential field method to drive the patrol robot moving along the wall baselines. In addition, we propose another navigation strategy by using ultrasonic and vision data fusion to improve the accuracy and robustness of the sensing system. We implement a visual navigation controller to successfully steer the patrol robot following the wall and keeping a certain distance to the wall.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"13 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":"121973241","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
An algorithm for serial planar manipulators that have an architecture R//(n)R by using Solidworks(2013) and Matlab/Simulink(2012) 基于Solidworks(2013)和Matlab/Simulink(2012)的结构为R//(n)R的串行平面机械臂算法
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618128
B. Fernini, M. Temmar
{"title":"An algorithm for serial planar manipulators that have an architecture R//(n)R by using Solidworks(2013) and Matlab/Simulink(2012)","authors":"B. Fernini, M. Temmar","doi":"10.1109/ICMA.2013.6618128","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618128","url":null,"abstract":"In this paper, we study the kinematic behavior of the postures (elbow down and elbow up) of a 2R robot for a same trajectory (straight line (point to point path)) created by inverse kinematics. It's found that there is a relation between the postures of this robot, this relation allows us to create other same trajectories of the postures by direct kinematics, and to develop a computer code by using SolidWorks(2013) and Matlab/Simulink(2012) to create a same trajectory by direct kinematics of the postures of the planar serial manipulators that have an architecture R//(n)R It's found from this analysis that the relation between the postures is dependent by the nature of (n) ( (n) an even number or (n) an odd number). SolidWorks (2013) and Matlab/Simulink (2012) are used to develop a computer code and the simulation of motion of the following planar serial robots (2R,5R, 6R).","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"45 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":"117197465","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
Improved EKF for SOC of the storage battery 改进了电池SOC的EKF
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618135
Dan Xu, Xiaoning Huo, Xin Bao, Changguang Yang, H. Chen, Bing-gang Cao
{"title":"Improved EKF for SOC of the storage battery","authors":"Dan Xu, Xiaoning Huo, Xin Bao, Changguang Yang, H. Chen, Bing-gang Cao","doi":"10.1109/ICMA.2013.6618135","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618135","url":null,"abstract":"Aiming at the electric automobile in the running state of the complicated working condition, an innovative battery SOC estimation method is presented. Based on a new type of on-line measurement in storage battery parameters, improved EKF algorithm is used to estimate the remaining battery capacity. By isolating single cells and acquainting parameters, the unit cell's SOC is estimated through the Kalman algorithm, and we can calculate assembled battery SOC by integrating unit cell's SOC. This algorithm overcomes the changes of electric vehicle battery parameters which are complicated and the traditional estimation algorithm has defects of low accuracy of SOC. The technology put forward in this paper overcomes the flaw. And the internal resistance of the battery can be estimated. The research has an important significance on SOH. Analysis of the test shows that, using this method for on-line estimation of battery SOC, the estimation accuracy is relatively high can reflect the real residual capacity of battery better.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"205 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":"123966759","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
Use of accelerometers and gyros for hip and knee angle estimation 使用加速计和陀螺仪来估计髋关节和膝关节的角度
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618041
F. Alonge, Elisa Cucco, F. D’Ippolito
{"title":"Use of accelerometers and gyros for hip and knee angle estimation","authors":"F. Alonge, Elisa Cucco, F. D’Ippolito","doi":"10.1109/ICMA.2013.6618041","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618041","url":null,"abstract":"In this paper a wearable sensor system, consisting of accelerometers and gyros, has been studied to estimate hip and knee angles. The proposed algorithm, developed in order to avoid the error accumulation due to gyroscopes drift, has been tested on angle measurement of the hip and knee of a commercial device for assisted gait. The results have shown a good accuracy of the angles estimation, also in high angle rate movement.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"7 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":"123969394","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
The research of fingervein feature extraction based on the ridgelet transform 基于脊波变换的指静脉特征提取研究
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618114
Ke-jun Wang, Xiaofei Yang, Zheng Tian, Tao Yan
{"title":"The research of fingervein feature extraction based on the ridgelet transform","authors":"Ke-jun Wang, Xiaofei Yang, Zheng Tian, Tao Yan","doi":"10.1109/ICMA.2013.6618114","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618114","url":null,"abstract":"Employing multi-scale analysis to extract features in the image-based identification system has been the research focus in recent years. Among which, the relative research about adopting wavelet transform and wavelet moment as the feature have made a lot of achievements, In this paper, We employ two methods to extract finger vein feature based on the ridgelet transform because of the unsatisfactory performance of wavelet in dealing with multi-dimensional function singularity. The first kind of feature can be obtained by reducting the ridgelet coefficients' dimensionality of different scales with PCA. Although the representation of straight-line singularity using ridgelet analysis is optimal, but it's worse for curve line. So we attempt to analyze the sub-image with ridgelet, the singular angle and ridgelet coefficient statistics characteristics are chosen to construct feature vector. Finally, we employ nearest neighbor classifier to implement classification and recognition. The result show that both of the methods has their own strengths. But the second feature has a higher recognition rate with high-quality images.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"13 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":"128402252","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 teaching reform method for Mechatronics System Engineering 机电系统工程教学改革的一种方法
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618007
Qishen Wang, Peijiang Yuan, Tianmiao Wang, Maozhen Gong
{"title":"A teaching reform method for Mechatronics System Engineering","authors":"Qishen Wang, Peijiang Yuan, Tianmiao Wang, Maozhen Gong","doi":"10.1109/ICMA.2013.6618007","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618007","url":null,"abstract":"With the rapidly increase of robotic products and their applications in industry and human life, a great challenge for universities to teach undergraduate students the basic knowledge of Mechatronics System Engineering (MSE) is appeared. As a required course for students majoring in machinery, MSE has practicalness and comprehensiveness traits. To improve the capacity of oral English and hands-on experiment for undergraduates, Beihang University carries out a teaching reform for MSE and forms a teaching mode based on bilingualism combining with project teaching method. In class, students communicate with teacher in English and after class, a drilling project based on a flex track drilling robot (FTDR) is provided for them to practice the knowledge they learned in class. After years of exploration, several mechatronics projects are presented by some excellent students in this paper, which confirms the bilingual teaching mode is a successful reform and is deserved to extend in other course gradually.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"21 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":"127165288","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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