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2008 5th International Symposium on Mechatronics and Its Applications最新文献

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Mechatronics approach to teaching real-time robotics 实时机器人教学的机电一体化方法
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648848
K. Harib, M. Al-Jarrah, M. Shibli
{"title":"Mechatronics approach to teaching real-time robotics","authors":"K. Harib, M. Al-Jarrah, M. Shibli","doi":"10.1109/ISMA.2008.4648848","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648848","url":null,"abstract":"The interdisciplinary nature of the field of robotics results in emergence of various methods for teaching robotics as a subject in engineering graduate and undergraduate curricula. Each of these methods focuses only on limited aspects that are of relevance to robotics, and only few address the need to mimic a realistic industrial robotic design and development. This article presents experiences of the authors in teaching and supervising a real-time robotics system course and a graduate project, which are given from a mechatronics perspective through introduction of a design and development project comprising various systems of a hydraulically actuated tripod platform. The various components and systems addressed in this project as well as the used development tools positively impacted the interests of the involved students to put more efforts in grasping the course materials and to build valuable hands-on experience.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115440359","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
TCRP: A tree-clustering prototocol for tracking mobile targets in wireless sensor networks TCRP:一种在无线传感器网络中跟踪移动目标的树聚类协议
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648814
M. Al-Rousan, A. Al-Ali, A. Talaa, O. Al-Jarrah, G. Hashim
{"title":"TCRP: A tree-clustering prototocol for tracking mobile targets in wireless sensor networks","authors":"M. Al-Rousan, A. Al-Ali, A. Talaa, O. Al-Jarrah, G. Hashim","doi":"10.1109/ISMA.2008.4648814","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648814","url":null,"abstract":"Mobility of nodes and sinks brings new challenges to large-scale sensor networks. In this paper we introduce TCRP, a tree-clustering routing protocol that provides scalable and efficient data delivery to mobile sinks and mobile targets in sensory networks. Each node detecting the presents of the mobile targets proactively constructs a tree structure which enables the mobile sinks to continuously receive data on the move and chases the mobile targets. A sink can move without reporting its location to the tree while receiving data updates successfully The new protocol is very beneficial for data-centric applications such as tracking mobile objects, smart farming, medicine and military applications. We have evaluated the performance of TCRP through simulation experiments. The results of simulation show that TCRP is scalable and energy-efficient. Moreover, TCRP is able to handle/track mobile targets and sinks efficiently compared with other existing protocols.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114587736","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
Design and implementation of a human stress detection system: A biomechanics approach 人体应力检测系统的设计与实现:生物力学方法
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648856
M. Sharawi, M. Shibli, M.I. Sharawi
{"title":"Design and implementation of a human stress detection system: A biomechanics approach","authors":"M. Sharawi, M. Shibli, M.I. Sharawi","doi":"10.1109/ISMA.2008.4648856","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648856","url":null,"abstract":"This paper presents the design and mechatronics implementation of a human stress detection system (HSDS) using a biomechanics approach. A simple, compact and easy to use system is developed and built on a 2-layer PCB. It consists of two transducers, an LCD display and a micro-controller chip along with their respective interfacing circuits. After characterizing the two transducers, an algorithm was developed based on the measurements to classify the human stress condition. A simple classification rule that was adopted revealed that the system can detect 78% of the stressed examinees. The overall system success rate in identifying one of three states (relaxed, half stressed and stressed) was 60%. One major application for HSDS could be in the automotive industry were the driver condition is constantly monitored, and if a stress state is detected, the driver can be notified to stop the car and relax.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116948966","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: 13
Real-time continuous curvature path planning of UAVS in cluttered environments 杂波环境下无人机实时连续曲率路径规划
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648836
Kwangjin Yang, S. Sukkarieh
{"title":"Real-time continuous curvature path planning of UAVS in cluttered environments","authors":"Kwangjin Yang, S. Sukkarieh","doi":"10.1109/ISMA.2008.4648836","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648836","url":null,"abstract":"This paper presents a method for curvature continuous (G2 continuous) path generation for a UAV flying in a cluttered environment in real-time. First we generate a collision free path using a rapidly-exploring random tree (RRT). However a UAV cannot fly this path since it consists of piecewise linear segments. G2 continuous path algorithm using cubic Bezier spiral curves is presented in this paper. Simulation results show the superiority of cubic Bezier spiral curves to Dubins path and C1 continuous cubic Bezier curves.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129157615","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: 53
A fuzzy behavior based microscopic traffic model 基于模糊行为的微观交通模型
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648850
M. Tavallaei, S. Khanmohammadi, I. Hasanzadeh
{"title":"A fuzzy behavior based microscopic traffic model","authors":"M. Tavallaei, S. Khanmohammadi, I. Hasanzadeh","doi":"10.1109/ISMA.2008.4648850","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648850","url":null,"abstract":"This paper deals with the problem of a human behavior based Microscopic Traffic Model. In this work, a fuzzified two point model is implemented for modeling the low level control behavior and a Fuzzy Multi Criteria Decision Making is implemented for modeling the high level control actions of the driver. As a result, different influential parameters such as the driver's age, mood, sex, etc. may be easily implemented in to the model and therefore guarantee a more natural outcome. This model can be used in automatically guided vehicles as a reference for natural driver behavior of individuals. The simulation results illustrate and verify the validity of the model.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"3 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131315028","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
Integrity monitoring of lowcost GPS-aided-INS systems 低成本gps辅助ins系统的完整性监测
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648849
Tariq Abuhashim, M. Abdel-Hafez, Mohammad Amin Al-Jarrah
{"title":"Integrity monitoring of lowcost GPS-aided-INS systems","authors":"Tariq Abuhashim, M. Abdel-Hafez, Mohammad Amin Al-Jarrah","doi":"10.1109/ISMA.2008.4648849","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648849","url":null,"abstract":"As unmanned systems become more and more important, reliability and integrity issues become definite, specially when being implemented with low-cost (or sometimes are referred to as COTS) sensors while being designed to operate in harsh environments. As a result, fault (or failure) detection and identification (FDI) is a must, and is a crucial requirement for designing unmanned vehicles. In this work, we investigate the utilization of two FDI techniques, the chi2 gating function and the the multiple model adaptive estimation (MMAE). Chi-squared FDI systems are computationally very inexpensive, have good fault detection ability and require no a priori knowledge on system dynamics. However, they are sensitive to filter tuning and fail to detect faults when the filter converges to them rather than rejecting them. Model-based approaches provide outstanding FDI ability. However, they are computationally demanding, require a priori knowledge on system model, sensitive to mismodelling errors, have finite convergence time and compromise filter optimality under no-failure conditions. A new FDI fusion algorithm is proposed, which guarantees integrity and does not affect optimality under no-failure conditions. Simulated results are presented to highlight performance characteristics of both FDI system implementations.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"101 9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123160656","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
GA based input-output feedback linearization controller for rotary inverted pendulum system 基于遗传算法的旋转倒立摆系统输入输出反馈线性化控制器
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648838
I. Hassanzadeh, Saleh Mobayen
{"title":"GA based input-output feedback linearization controller for rotary inverted pendulum system","authors":"I. Hassanzadeh, Saleh Mobayen","doi":"10.1109/ISMA.2008.4648838","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648838","url":null,"abstract":"This paper presents an optimum approach to design input-output feedback linearization (IOFL) controller for a rotary inverted pendulum (RIP) using the Binary Genetic Algorithm. Genetic Algorithms (GAs) are stochastic global search methods that emulate the process of natural evolution and because of their simplicity and robustness, they are more popular and applicable. The primary design goal is to minimize the integral absolute error of system angles and velocities and balance the pendulum in the inverted position by minimizing overshoot, settling time and rise time of step response. An objective function using these indexes is established. Then by minimizing the objective function using Binary Genetic algorithm, the optimal controller parameters can be assigned. Simulation results verified capable and competent characteristics of proposed optimal feedback linearization controller. The proposed method can be considered as a promising way for control of various similar nonlinear systems.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134380014","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
Intelligent mapping and locomotion system for blind guidance robot 盲导机器人智能测绘与运动系统
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648829
A. Bisher, M. Al-Khedher
{"title":"Intelligent mapping and locomotion system for blind guidance robot","authors":"A. Bisher, M. Al-Khedher","doi":"10.1109/ISMA.2008.4648829","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648829","url":null,"abstract":"Robot movement in its working environment requires tracking the correct path between the start point and the end point. This paper employs artificial intelligence methodologies in mapping and path search procedures for robot navigation. Robot localization was determined using dead reckoning method with a new error correction algorithm. A topology and odometry unit along with a motion control unit is designed using a PIC microcontroller that controls the motors using PWM to drive the robot.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123793649","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
Application of virtual prototyping for optimization of fuzzy-based active suspension system 虚拟样机在模糊主动悬架系统优化中的应用
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648824
M. Montazeri-Gh, M. Soleymani, N. Mehrabi
{"title":"Application of virtual prototyping for optimization of fuzzy-based active suspension system","authors":"M. Montazeri-Gh, M. Soleymani, N. Mehrabi","doi":"10.1109/ISMA.2008.4648824","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648824","url":null,"abstract":"Optimization of fuzzy active suspension (AS) system in previous works was based on simple basic models in which many effective degrees of freedom are neglected. In this paper, application of virtual prototyping for genetic optimization of AS fuzzy controller is presented. A full-3D vehicle model is developed for this purpose using ADAMS software. Moreover, a fuzzy logic controller (FLC) is proposed for the AS system and is applied to the virtual prototype. The FLC parameters are then tuned based on the virtual prototype responses using genetic algorithm in MATLAB-ADAMS co-simulation process. The optimization objective function comprises conflicting ride comfort, suspension travel and energy consumption parameters. Simulation results reveal the superior performance of the optimized controller in vehicle ride comfort improvement as well as suspension travel and energy consumption reduction.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"272 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124408527","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
Monitoring in torque-summed electromechanical actuators 力矩求和式机电致动器的监测
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648799
F. Annaz
{"title":"Monitoring in torque-summed electromechanical actuators","authors":"F. Annaz","doi":"10.1109/ISMA.2008.4648799","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648799","url":null,"abstract":"The main aim of this paper is to address cross-monitoring techniques (lumped and hardware) in a single-type torque-summed architecture. In the lumped cross-monitoring technique, all lanes will be represented by their lumped models, while in hardware cross-monitoring, three-phase equivalents will model each motor. The analysis is based on a 4-lane actuation system capable of driving aerodynamic and inertial loads (with 2 lanes failed) acting on an aileron control surface similar to that of the Sea Harrier. The paper will start by giving an overview of the system, by briefly describing: (1) the fault detection and fault isolation, FDI, system, (2) threshold setting method, using the simulation graphical Monte Carlo, SGMC, and (3) For completeness, brief yet key models of the brushless DC motor and the aerodynamic load will also be given. Unscheduled thresholds values will then be evaluated from peak lane disparities (due to inherent parameter randomness) using the SGMC. The largest failure transient envelopes after failure isolations are then identified for different flight conditions, and their impact on the aircraft response in roll will then be assessed. The paper will conclude by showing that both actuator and aircraft requirements were met despite the use of two different cross-monitoring techniques.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130399616","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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