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Optimal design of infrared motion sensing system using divide-and-conquer based genetic algorithm 基于分而治之遗传算法的红外运动传感系统优化设计
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617965
Guodong Feng, Yuebin Yang, Xuemei Guo, Guoli Wang
{"title":"Optimal design of infrared motion sensing system using divide-and-conquer based genetic algorithm","authors":"Guodong Feng, Yuebin Yang, Xuemei Guo, Guoli Wang","doi":"10.1109/ICMA.2013.6617965","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617965","url":null,"abstract":"This paper studies the optimal design of an infrared motion sensing system for human motion localization in the context of human-following robots. Specifically, we aim to find the optimal number and placement of bearing-sensitive pyroelectric infrared (PIR) sensor arrays for improving localization performance. This optimal design leads to a multiobjective, mixed-integer-discrete-continuous and variable-dimensional optimization problem, which prevents from using conventional multiobjective optimization techniques including genetic algorithm (GA). This paper explores the use of divide-and-conquer based GA in solving this optimal design problem. The proposed approach consists of three steps: firstly, following divide-and-conquer principle, the optimal design problem is decomposed into a set of sub-optimization problems; then the sub-optimization problems are solved with standard GA; finally, the optimal solution is found through fusing the resulting solutions of sub-optimization problems. The proposed design approach is illustrated with a design example, and verified with experimental studies.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"65 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":"126015852","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
Moving obstacle avoidance for the mobile robot using the probabilistic inference 基于概率推理的移动机器人避障研究
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618184
H. Ishihara, E. Hashimoto
{"title":"Moving obstacle avoidance for the mobile robot using the probabilistic inference","authors":"H. Ishihara, E. Hashimoto","doi":"10.1109/ICMA.2013.6618184","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618184","url":null,"abstract":"In this paper, we present a motion planning algorithm using the probabilistic inference for the mobile robot. This study aim is for the mobile robot to avoid the moving obstacle and to reach the target position. The proposal algorithm consists of three steps. In the first step, robot system predicts the trajectory of the moving obstacle. Prediction is performed as what the moving obstacle follows to tangential direction by the proposal algorithm. In the second step, robot system calculates the prediction region of the moving obstacle. Mathematical model that is based on the probability density function of two-dimensional normal distribution is used in prediction region. In the third step, robot system plans the mobile robot motion. The potential field method is used in the motion planning for the mobile robot. The proposal algorithm was investigated by simulations in order to be effective. By simulations, we tested whether the mobile robot can avoid the moving obstacle and reach the target position. The mobile robot can avoid the moving obstacle was confirmed by simulation results.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"19 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":"125229278","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
Gait planning of the quadruped walking chair robot with parallel leg mechanism 并联腿机构四足步行椅机器人的步态规划
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617886
Hongbo Wang, Delei Fang, Lingfeng Sang, Y. Wang, Y. Wen, N. Chen
{"title":"Gait planning of the quadruped walking chair robot with parallel leg mechanism","authors":"Hongbo Wang, Delei Fang, Lingfeng Sang, Y. Wang, Y. Wen, N. Chen","doi":"10.1109/ICMA.2013.6617886","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617886","url":null,"abstract":"According to walking requirements, combining modularization and reconfigurable ideas, a quadruped/biped reconfigurable walking robot with parallel leg mechanism has been proposed. In this paper, considering the dimension optimization and structural constraints of the walking chair robot, the walking step length is obtained firstly. After that, based on walking requirements and stability of body mechanism, the translational gait is planned. Furthermore, the walking chair's static stability is analyzed through the stability margin of the parallel robot. Finally the workspaces of the swing leg and the whole mechanism are calculated to verify the correctness and effectiveness of gait planning. The gait planning research on quadruped walking chair robot lays a theoretical foundation for experiment of the prototype.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"75 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":"124195041","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 review of robotics in onshore oil-gas industry 陆上油气工业机器人技术综述
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618077
Amit Shukla, H. Karki
{"title":"A review of robotics in onshore oil-gas industry","authors":"Amit Shukla, H. Karki","doi":"10.1109/ICMA.2013.6618077","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618077","url":null,"abstract":"With shrinking resources and increasing demand for petroleum products, oil and gas industries are forced to rethink over their present pace for automatization of industry. New oil fields, mostly located in extreme conditions, are posing serious challenges to both human and environment in terms of safety. Tasks which are repeated, dirty, and dangerous and require high degree of accuracy are already automatized in manufacturing industry. This success has inspired oil and gas industry to lend some of its highly dangerous and repetitive tasks for automation. Most of the processes are remotely operated, and require highly skilled operator. Such processes benefits not only in terms of overall health and safety, by removing humans from hazardous environment, but also by reduction of number staff members required for continuous inspection and manipulation of plant facilities. Considering the sensitivity of inflammable products involved in this industry usage of completely autonomous robots is still a far fetch choice. Therefore, semi-autonomous robots are excellent choice for this industry at-least as near future solution. In oil and gas industry, robots are used both in upstream and downstream process such as pipe handling in drilling operations, pipe inspection, tank inspection, and remote controlled underwater vehicles (ROVs). This paper presents the state of art technology particularly related to application of robotic solutions to in-pipe inspection robots (IPIRs) and tank inspection robots (TIRs) at onshore oil and gas facilities.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"63 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":"126747275","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: 26
Fabrication of multilayer structured tubular tissue using water transfer printing 水转移印花制备多层结构管状组织
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617927
Yuka Yamagishi, T. Masuda, H. Owaki, F. Arai, M. Matsusaki, M. Akashi
{"title":"Fabrication of multilayer structured tubular tissue using water transfer printing","authors":"Yuka Yamagishi, T. Masuda, H. Owaki, F. Arai, M. Matsusaki, M. Akashi","doi":"10.1109/ICMA.2013.6617927","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617927","url":null,"abstract":"We proposed a 3D assembly technique using water transfer printing to fabricate a multilayer structured tubular tissue. This study was aimed to determine whether the tissue-engineered tubular structure maintains the normally mechanical property as the development and function by the artificial circulatory system. In this work, we demonstrated that fabricated tissues could rapidly assemble into aligned tubular tissue in the appropriate geometrical conditions using engineering approaches. This technique does not require a solid biodegradable scaffold. Therefore, this approach presents the simple and rapid method to create through the exploitation of the intrinsic potential of cells to assemble fabricated tissues into functional 3D tissues in a suitable tubular tissue environment. The described technique is applicable to many different cell types and can be used to engineer tissue constructs of user-defined size and shape with micro-scale control of the cellular organization, which could form the basis for constructing 3D engineered tissues with a hollow tubular tissue in vitro.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"29 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":"122208077","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
Robust fault-tolerant compensation tracking control for omni-directional rehabilitative training walker 全向康复训练步行器鲁棒容错补偿跟踪控制
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617980
P. Sun, Shuoyu Wang
{"title":"Robust fault-tolerant compensation tracking control for omni-directional rehabilitative training walker","authors":"P. Sun, Shuoyu Wang","doi":"10.1109/ICMA.2013.6617980","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617980","url":null,"abstract":"This paper is concerned with the problem of robust fault-tolerance tracking control on the omni-directional rehabilitative training walker. The nonlinear robust fault-tolerance compensation method is proposed when a fault occurs on one wheel actuator. The aim of the study is to design an asymptotically stable controller that can guarantee the safety of user and ensure tracking on a training path planned by a physical therapist. The controller that can satisfy asymptotic stability is obtained by constructing the energy storage function and the dissipation inequality. An evaluation signal is designed to verify the nonlinear gain performance index. Finally, the simulation results confirm the feasibility and effectiveness of the designed scheme and indicate the walker can ensure safety motion when one wheel is at fault by compensation input forces for another three wheels.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"81 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":"130741404","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
Speeding-up of passive combined rimless wheel using active wobbling mass 主动摆振质量对被动组合无框轮加速的影响
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618052
F. Asano, I. Tokuda
{"title":"Speeding-up of passive combined rimless wheel using active wobbling mass","authors":"F. Asano, I. Tokuda","doi":"10.1109/ICMA.2013.6618052","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618052","url":null,"abstract":"It was clarified that a passive combined rimless wheel (CRW) that consists of two identical eight-legged rimless wheels can increase the walking speed either by adjusting the phase difference or by using a passive wobbling mass that vibrates up-and-down in the body frame. This paper then investigates the effect of an active wobbling mass driven by an actuator for the purposes of further speeding-up and investigating the effect of indirect excitation control. First, we develop the mathematical model and numerically show that the CRW generates walking motion in synchronization with the up-and-down motion of the active wobbling mass at high frequencies. Several interesting nonlinear phenomena are also reported. Second, we describe the experimental results using our prototype CRW machine.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"38 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":"133697289","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 energy recovery for electric vehicle based on motor-generator integration system 基于电机-发电机集成系统的电动汽车能量回收研究
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617899
Yi Luo, Dagui Huang, Xiang Gao
{"title":"Research on energy recovery for electric vehicle based on motor-generator integration system","authors":"Yi Luo, Dagui Huang, Xiang Gao","doi":"10.1109/ICMA.2013.6617899","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617899","url":null,"abstract":"This paper took electric vehicle as research object and concentrated on its energy recovery system. In our experimental project, the idea of motor-generator integration was proposed. Theory and method to accomplish the integration was also presented in detail. Additionally, an intelligent gearbox was assembled into our vehicle model, which is a relatively new attempt to the research of electric vehicle. The significant role played by gearbox in energy recovery system was revealed in the paper as well. Finally, a specific simulation model was built up with CRUISE to verify our supposition. Results indicated our supposition was scientific.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"6 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113955809","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
Selective precision motion control using weighted sensor fusion approach 基于加权传感器融合的选择性精密运动控制
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617914
K. Tan, Poi Voon Er, Rui Yang, C. Teo
{"title":"Selective precision motion control using weighted sensor fusion approach","authors":"K. Tan, Poi Voon Er, Rui Yang, C. Teo","doi":"10.1109/ICMA.2013.6617914","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6617914","url":null,"abstract":"With the continued increasing demand for high precision in robotics and automation, the accuracy of the position measurement is fundamental and critically important to achieve high precision control performance. Given common conflicting interests in cost versus performance considerations, or even among different performance measures arising in the same application, the need for an effective balance among these issues can arise to motivate the use of multiple sensors for the same measurement. Examples of such scenarios will be highlighted in the paper and an approach towards precision motion control with a selective fusion of multiple signal candidates is furnished. A specific application towards precision motion control of a linear motor using a magnetic encoder and a soft position sensor in conjunction with an analog velocity sensor is demonstrated.","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":"114062335","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
Design and development part 2 of Dexto:Eka: - The humanoid robot Dexto:Eka的设计与开发第二部分:仿人机器人
2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618029
Sulabh Kumra, M. Mohan, Sumit Gupta, Himanshu Vaswani
{"title":"Design and development part 2 of Dexto:Eka: - The humanoid robot","authors":"Sulabh Kumra, M. Mohan, Sumit Gupta, Himanshu Vaswani","doi":"10.1109/ICMA.2013.6618029","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618029","url":null,"abstract":"Through this paper, we elucidate the second phase of the design and development of the tele-operated humanoid robot Dexto:Eka:. Phase one comprised of the development of a 6 DoF left anthropomorphic arm and left exo-frame. Here, we illustrate the development of the right arm, right exo-frame, torso, backbone, human machine interface and omni-directional locomotion system. Dexto:Eka: will be able to communicate with a remote user through Wi-Fi. An exo-frame capacitates it to emulate human arms and its locomotion is controlled by joystick. A Graphical User Interface monitors and helps in controlling the system.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"31 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":"127822812","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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