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

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On active lower limb exoskeletons actuators 主动下肢外骨骼驱动器
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648796
F. Casolo, S. Cinquemani, M. Cocetta
{"title":"On active lower limb exoskeletons actuators","authors":"F. Casolo, S. Cinquemani, M. Cocetta","doi":"10.1109/ISMA.2008.4648796","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648796","url":null,"abstract":"Carrying a load increases the metabolic costs of movement: exoskeletons are devices developed primarily to minimize the operatorpsilas energetic contribution for the action. The rise of the exoskeletons research can be set in the second half of the past century. The most important contribution given by these early attempts to develop supporting structures for human use, was to identify and focus the researcherpsilas attention on some key aspects, fundamental for a further implementation of these devices. Among them, the importance of efficient and small supply systems, of precision and control, o simple human interface and of the knowledge of locomotion biomechanics. The aim is a technological approach capable to match the artificial system with the human beings with minimum interactions and maximum synergy. This work deal with the state of art of the projects facing with the development of exoskeletons and active orthoses for the lower limbs. It focuses the actuators problem showing advantages and disadvantages of a variety of technological alternatives. The work is the starting point for a new exoskeleton design.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"14 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":"134287604","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: 18
Using Laminated Metal Tooling (LMT) in die manufacturing for clay moulding 使用层压金属模具(LMT)在模具制造粘土成型
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648806
A. Alami
{"title":"Using Laminated Metal Tooling (LMT) in die manufacturing for clay moulding","authors":"A. Alami","doi":"10.1109/ISMA.2008.4648806","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648806","url":null,"abstract":"The LMT process was used to construct two dies to be used for the moulding of clay specimens for purposes of determining the mechanical properties of clay bricks with olive husk additives in the Hashemite Kingdom of Jordan. The LMT process was localized to the technical manufacturing means available in Jordan, in terms of cutting equipment and bonding techniques. Measurements of surface roughness of the inner die surfaces were used as the determining factor to aid in the choice of LMT process parameters. Different sheet metal bonding techniques as well as prospects for embedding displacement-detecting sensors were also investigated.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"4 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":"127865926","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
Development and calibration of low cost MEMS IMU for UAV applications 用于无人机的低成本MEMS IMU的开发和校准
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648819
L. Sahawneh, M. Jarrah
{"title":"Development and calibration of low cost MEMS IMU for UAV applications","authors":"L. Sahawneh, M. Jarrah","doi":"10.1109/ISMA.2008.4648819","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648819","url":null,"abstract":"In this paper, an affordable and reliable low-cost inertial measurement unit (IMU) is designed using commercial off-the-shelf (COTS) components. Micro electro-mechanical systems (MEMS) accelerometers and rate-gyros are used, and a methodology for calibrating the resulting IMU is developed when the precise orientation of the IMU is unknown. The proposed methodology requires no precise mechanical platform for the accelerometer while as simple rotating table is utilized for the rate-gyros calibration. The proposed calibration methods utilize the fact that ideally the norm of the measured output of the accelerometer and gyro cluster is equal to the magnitude of applied force and rotational velocity, respectively. Least squares method is used to evaluate the accelerometers and gyros model coefficients.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"18 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":"115385911","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: 45
Distributed active shock absorbers for flexible structures 柔性结构分布式主动减震器
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648831
Lei Chen, M. Mohammadzaheri, F. He, K. Sammut
{"title":"Distributed active shock absorbers for flexible structures","authors":"Lei Chen, M. Mohammadzaheri, F. He, K. Sammut","doi":"10.1109/ISMA.2008.4648831","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648831","url":null,"abstract":"A multi-degree-of-freedom (MDOF) distributed active shock absorber (DASA) for shock vibration suppression in flexible structures is investigated in this paper. The DASA is a simple first-order controller that is designed based on the modal positive position feedback strategy to suppress transient vibrations of flexible structures at various harmonics. The DASA can be constructed by using piezoceramic sensors and actuators that are controlled by micro-controller. The effectiveness of the DASA design is validated through multiple-mode control on a flexible cantilever beam system with a single sensor/actuator pair. The experimental results reveal that the proposed strategy is a potentially viable means for real-time control of vibration in large flexible structures.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"8 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":"124952653","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
Neural network-based waveguide acoustic gas detector 基于神经网络的波导声气体探测器
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648867
S. AlSabbah, T. Mughrabi
{"title":"Neural network-based waveguide acoustic gas detector","authors":"S. AlSabbah, T. Mughrabi","doi":"10.1109/ISMA.2008.4648867","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648867","url":null,"abstract":"At present, gas chromatography is a universal technique used for analysis. The technical features of gas chromatographs are determined by the properties of gas detectors. One of the most recent and perspective gas detectors is the waveguide acoustic detector, in which chromatogram represents the mass concentration of the gas to be detected. With MATLAB computational language and iteration algorithm, a neural network-based waveguide detector is proposed, to predict the frequency and mass concentration of the unknown gas (sample). Experimental data has been chosen to create the database of the neural network-based detector. The proposed model has been tested and validated numerically with results.","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":"130659008","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
Intelligent signal processing for electro-mechanical systems 机电系统的智能信号处理
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648797
M. Halimic, A. Halimic, S. Zugail, Z. Huneiti
{"title":"Intelligent signal processing for electro-mechanical systems","authors":"M. Halimic, A. Halimic, S. Zugail, Z. Huneiti","doi":"10.1109/ISMA.2008.4648797","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648797","url":null,"abstract":"In this paper a signal processing approach for improving the performance of dynamic weighing systems by using a combination of fuzzy logic and artificial neural networks is presented. The paper indicates that the technique of combining these two methods is a viable design solution for article weight estimation from stochastic signals. The neuro-fuzzy system adopted is an adaptive network based fuzzy inference system (ANFIS) in Jang, J.-S. R (1993). This method is further enhanced by introducing a systematic approach in deciding the number and initial shape of the membership functions. The number and shape of membership functions were determined by means of fuzzy space clustering. This new enhanced ANFIS (EANFIS) method was experimentally verified and the obtained results, when compared to the results of classical signal processing, showed a significant improvement in both the accuracy and the throughput rate of an industrial dynamic checkweigher.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"25 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":"134519734","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
Vision-based system for continuous Arabic Sign Language recognition in user dependent mode 用户依赖模式下基于视觉的阿拉伯手语连续识别系统
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.4236/jilsa.2010.21003
K. Assaleh, T. Shanableh, M. Fanaswala, F. Amin, H. Bajaj
{"title":"Vision-based system for continuous Arabic Sign Language recognition in user dependent mode","authors":"K. Assaleh, T. Shanableh, M. Fanaswala, F. Amin, H. Bajaj","doi":"10.4236/jilsa.2010.21003","DOIUrl":"https://doi.org/10.4236/jilsa.2010.21003","url":null,"abstract":"Existing work on Arabic Sign Language recognition focuses on finger spelling and isolated gestures. In this work we extend vision-based existing solutions to recognition of continuous signing. As such we have collected and labeled the first video-based continuous Arabic Sign Language dataset. We intend to make the collected dataset available for the research community. The proposed solution extracts the motion from the video-based sentences by means of thresholding the forward prediction error between consecutive images. Such prediction errors are then transformed into the frequency domain and Zonal coded. We use Hidden Markov Models for model training and classification. The experimental results show an average word recognition rate of 94%, keeping in the mind the use of a high perplexity vocabulary and unrestrictive grammar.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"22 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":"116721713","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: 68
A modified proportional guidance law for homming missiles by using of nonlinear filters 利用非线性滤波器改进的比例制导律
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648854
Hamed Sadeghi, J. Poshtan, A. Montazeri
{"title":"A modified proportional guidance law for homming missiles by using of nonlinear filters","authors":"Hamed Sadeghi, J. Poshtan, A. Montazeri","doi":"10.1109/ISMA.2008.4648854","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648854","url":null,"abstract":"In this paper two nonlinear estimation techniques, i.e. particle filter (PF) and unscented Kalman filter (UKF), are used for estimation of the states of a passive homming missile. The estimated states including the range between missile and target are used as the elements of proportional navigation guidance (PNG) law. Previous methods such as extended Kalman filter (EKF), measurements based on line of sight angle and its rate of change have demonstrated some difficulties due to limitations of extended Kalman filter as well as unobservability of the states of the system. Besides, in the paper the problem of observability of states of the system is investigated and unobservability of some of the states of this system is resolved by proposing a new measurable variable which can be used in real implementations of such missiles. The performances of these two nonlinear estimation techniques are compared with that of extended Kalman filter from root mean square error point of view by Monte-Carlo simulations. The computational complexity and the question that the algorithms are realizable or not are also considered in this study.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"40 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":"114428808","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
New robust controller design for multivariable control systems 多变量控制系统的鲁棒控制器设计
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648827
Ahmad Al-Jarrah, Atef Fahim
{"title":"New robust controller design for multivariable control systems","authors":"Ahmad Al-Jarrah, Atef Fahim","doi":"10.1109/ISMA.2008.4648827","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648827","url":null,"abstract":"This paper presents a simple reasoned methodology for designing sliding mode controllers (SMCs) for single-input-multi-output (SIMO) control systems. The approach is explicitly based on the assessment of a system total energy, and the realization of a SMC that minimizes that energy. The practical implementation of the proposed approach is exemplified on an inverted pendulum system where the system is two independent sliding surfaces are designed based on the system states.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"221 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":"133831639","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
Performability study of a mission-critical system using reliability-analytic formalism 关键任务系统的可靠性分析研究
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648833
Mohammed Khasawneh, M. Almalkawi
{"title":"Performability study of a mission-critical system using reliability-analytic formalism","authors":"Mohammed Khasawneh, M. Almalkawi","doi":"10.1109/ISMA.2008.4648833","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648833","url":null,"abstract":"In this paper we present a performability study of the control rod mechanism in a nuclear reactor based on reliability analysis over reactor lifespan. The study uses a unified formalism framework that is applicable to various engineering disciplines. Study results reveal that mean reliability of the system degrades over time, as the uncertainty in the measurements increases. Results, also, show that reliability of the system is a function of the failure rate of the underlying system components; here as the failure rate values increase the system exhibits decreased levels of reliability. Results obtained are intuitive and consistent with those reported elsewhere in the literature. According to the study, the effect of incorporating redundancies was also investigated. Here, while one might envisage one single point of failure as a determining factor as to overall system performance, results show that introducing redundancies to other parts of the system does far better in as far as reliability issues are concerned. This is illustrated in the paper by means of redundancies introduced in different parts of the system under investigation. The results justify the fact that redundant linkages are not found in practice in the control rod mechanism of a nuclear reactor.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"16 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":"132783951","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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