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

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ANN-based sensorless anti-swing control of automatic gantry crane systems: Experimental result 基于人工神经网络的自动龙门起重机系统抗摆控制:实验结果
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648852
Wahyudi, N.T. Mohamad Yusof
{"title":"ANN-based sensorless anti-swing control of automatic gantry crane systems: Experimental result","authors":"Wahyudi, N.T. Mohamad Yusof","doi":"10.1109/ISMA.2008.4648852","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648852","url":null,"abstract":"Sensor is an indispensable component in feedback control. In anti-swing feedback control of automatic gantry crane system, sensors are normally employed to detect trolley position and payload swing angle. However, sensing the payload motion of a real gantry crane, in particular, is troublesome and often costly since there is hoisting mechanism on parallel flexible cable. Therefore, sensorless anti-swing control method for automatic gantry crane system is proposed in this study. The anti-swing control is performed in feedback control scheme without using real swing angle sensor. Instead soft sensor approach is used to substitute the real swing angle sensor. The soft sensor is designed based on artificial neural network (ANN). Specifically, multilayer feedforward network trained by using back propagation learning algorithm is adopted as soft sensor. An experimental study using lab-scale automatic gantry crane is carried out to evaluate the effectiveness of the proposed sensorless anti-swing control. The results show that the proposed sensorless method is effective for payload swing suppression since it gives similar performance to the sensor-based feedback anti-swing control.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"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":"122214276","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
Reductions of pendulations of overhead cranes under the effect of air resistance by a cable manipulation manner 在空气阻力作用下，用缆索操纵方式减小桥式起重机的摆动
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648840
M. Hayajneh, S. M. Radaideh, F. Al-Oqla, I. Nejdawi
{"title":"Reductions of pendulations of overhead cranes under the effect of air resistance by a cable manipulation manner","authors":"M. Hayajneh, S. M. Radaideh, F. Al-Oqla, I. Nejdawi","doi":"10.1109/ISMA.2008.4648840","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648840","url":null,"abstract":"Reduction of pendulations of the payloads in overhead cranes is carried out. The air resistance effect is taken into considerations. The reduction of oscillations based on the continuous unreeling method. The equations of motion of the overhead crane considered the system as a combination of a trolley and a pendulum. Different combinations of payload, hoisting cable lengths with different unreeling speeds and trolley mass are simulated. Results showed that significant reduction in pendulations was achieved.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"19 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":"122273110","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 secure novel sensor fusion architecture for nuclear applications 一种安全的新型核传感器融合体系结构
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648860
M. Khasawneh, R. Uddin, M. Malkawi, T. Hayajneh, M. Almalkawi
{"title":"A secure novel sensor fusion architecture for nuclear applications","authors":"M. Khasawneh, R. Uddin, M. Malkawi, T. Hayajneh, M. Almalkawi","doi":"10.1109/ISMA.2008.4648860","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648860","url":null,"abstract":"We propose a novel architecture to fuse and synthesize data from multiple sensors. This architecture, based on wireless communication of data, can be applied to monitor system integrity, to help in system control, and for personnel guidance through potentially hazardous radiation areas in nuclear applications. The proposed architecture employs sensor fusion in a way that would lead to improved decision making. The sensor suites used are interconnected serially to warrant more robust sensing strategies while leveraging spatially correlated data. They are also fed in parallel into a data fusion center using wireless technologies to ensure enhanced system reliability. While the proposed architecture can readily be tailored for specific applications in the nuclear industry such as for plant monitoring and automated decision and control, it is also designed to track and guide personnel away from radiation-contaminated zones.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"74 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":"127365908","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
An intelligent interface for a housekeeping robot 管家机器人的智能接口
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648795
S. Jusoh, H.M. Al Fawareh
{"title":"An intelligent interface for a housekeeping robot","authors":"S. Jusoh, H.M. Al Fawareh","doi":"10.1109/ISMA.2008.4648795","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648795","url":null,"abstract":"In the near future, robots are not seen as automated machines, but intelligent and powerful assistants for human beings. They are able to assist people in common places such as offices and houses. This paper presents a scenario of a housekeeping robot. The robot is assumed to receive instructions from a human user and perform tasks in a kitchen. A human user is expected to communicate with a robot by using a natural language. Thus, such kind of robots requires a natural and intelligent human-machine interface. This can be facilitated through a natural language interface. The major challenging issue in developing a natural language interface for the robot is ambiguity and uncertainty in user instructions. This paper presents a technique to resolve the problem. The technique is created by applying possibility theory, fuzzy sets, and knowledge about a user and robot to the user instructions.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"61 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":"124559590","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
Tactile based fuzzy-Bayesian controller for prosthetic hand 基于触觉的假手模糊贝叶斯控制器
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648845
Hamed Khandan, Caro Lucasa
{"title":"Tactile based fuzzy-Bayesian controller for prosthetic hand","authors":"Hamed Khandan, Caro Lucasa","doi":"10.1109/ISMA.2008.4648845","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648845","url":null,"abstract":"In the experience documented in this paper, we have demonstrated the ability of our novel fuzzy-Bayesian approach to machine cognition, called fuzzy-Bayesian inference system, by making it control a virtual prosthetic hand according to the feedback from its tactile sensors. The hand model is designed based on the characteristics of an average adult hand and is simulated using Java 3D technology with our own developed precise collision determination algorithm and tactile sensors simulator. In this experience, this hand could successfully learn how to pick a fragile subject like a glass without hurting it, in a few experiments.","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":"114874051","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
On servo experiment of a new multi-DOF robotic forceps manipulator for minimally invasive surgery 一种新型微创手术用多自由度机器人钳式机械手的伺服实验
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648813
C. Ishii, Y. Kamei
{"title":"On servo experiment of a new multi-DOF robotic forceps manipulator for minimally invasive surgery","authors":"C. Ishii, Y. Kamei","doi":"10.1109/ISMA.2008.4648813","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648813","url":null,"abstract":"In resent years, many of multi-DOF robotic forceps manipulators for minimally invasive surgery have been proposed. We have developed a new robotic forceps manipulator using the double-screw-drive (DSD) mechanism, which enables omni-directional bending motion by rotating two linkages consisted of right-handed screw, left-handed screw and universal joint. Also we have improved the first prototype DSD forceps manipulator so that its gripper can rotate, so far. This paper presents servo experimental results for the developed second prototype DSD robotic forceps manipulator by teleoperation.","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":"114982002","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
Dynamic modelling of a twin rotor MIMO system using grey box approach 基于灰盒法的双转子MIMO系统动力学建模
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648835
A. Rahideh, M. Shaheed
{"title":"Dynamic modelling of a twin rotor MIMO system using grey box approach","authors":"A. Rahideh, M. Shaheed","doi":"10.1109/ISMA.2008.4648835","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648835","url":null,"abstract":"This investigation presents a grey box modelling approach for an experimental nonlinear aerodynamic test rig, a twin rotor multi-input-multi-output system (TRMS) using genetic algorithms (GA). The dynamic equations of the system in terms of 2 degrees of freedom (2DOF) are developed using Newtonian method. The measurable parameters of the system are measured and others are estimated using physical knowledge of the system. In order to improve the accuracy of the model the estimated parameters are returned using a GA optimization approach. Note that the estimated parameters of the system are utilized as the initial populations of the GA. The performances of the white and grey box models are compared with respect to each other to validate the improvement of the grey box approach. The developed model will be used in a nonlinear model predictive control approach.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"102 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":"123395212","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
Modeling hysteresis of smart actuators 智能执行器的滞回建模
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648805
M. Al Janaideh, C. Su, S. Rakehja
{"title":"Modeling hysteresis of smart actuators","authors":"M. Al Janaideh, C. Su, S. Rakehja","doi":"10.1109/ISMA.2008.4648805","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648805","url":null,"abstract":"A generalized Prandtl-Ishlinskii model is proposed for modeling hysteresis nonlinearities in piezoceramic actuator. A generalized play operator is presented and integrated to the Prandtl-Ishlinskii model together with density function. The generalized play hysteresis operator is analysed using linear envelop function. Parameters identification for the generalized Prandtl-Ishlinskii model is carried out using nonlinear optimization technique. The validity of the generalized model is demonstrated by comparing its displacement responses with the measured responses obtained for piezoceramic actuator.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"41 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":"124494345","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
Determination of mechanical properties of FCC nano-beams based on molecular dynamics simulations 基于分子动力学模拟的FCC纳米束力学性能测定
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648825
H. N. Pishkenari, A. Meghdari, A. Hosseini
{"title":"Determination of mechanical properties of FCC nano-beams based on molecular dynamics simulations","authors":"H. N. Pishkenari, A. Meghdari, A. Hosseini","doi":"10.1109/ISMA.2008.4648825","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648825","url":null,"abstract":"In this research, we have modeled nano-Beams using molecular dynamics. The scope of our study is FCC metals, therefore an appropriate inter-atomic potential for this kind of materials must be chosen. A multi-body long-range potential proposed by Sutton-Chen, which has been used in many physical investigations of FCC metals is applied in our study. Using conducted simulations, the different mechanical properties of material such as elastic modulus, shear modulus and poisonpsilas ratio are calculated. The results show that the elastic properties decrease with increase in nano cantilever size.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"71 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":"125978892","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
Brain computer interface as a forensic tool 脑机接口作为取证工具
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648820
M. Al-Sagban, O. El-Halawani, T. Lulu, H. Al-Nashash, Y. Al-Assaf
{"title":"Brain computer interface as a forensic tool","authors":"M. Al-Sagban, O. El-Halawani, T. Lulu, H. Al-Nashash, Y. Al-Assaf","doi":"10.1109/ISMA.2008.4648820","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648820","url":null,"abstract":"Event related potential can provide important information about the human memory content. One can use ERP signals to determine if a piece of information is significant to a person or not. This property of ERP appears to be greatly useful to a wide range of applications. The use of ERP as a forensic tool is being investigated in this paper. The used experiment paradigm, data collection method, and signal processing techniques are described. The classification results for the different feature extraction and classification techniques are reported. The results obtained lead to an optimistic view of the systempsilas reliability. The maximum classification rate obtained was 90% using the minimum (Euclidean) distance classifier. The rate was achieved using the band Fourier estimation alpha band parameter applied to the signals from the Pz site. Moreover, innocents were a 100% correctly classified and criminals were 80% correctly classified. Numerous other features scored more than 80% accuracy using the various classifiers.","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":"129631020","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
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