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

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Evolution of elbow prosthesis transmission 肘关节假体传播的演变
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648822
F. Casolo, S. Cinquemani, M. Cocetta
{"title":"Evolution of elbow prosthesis transmission","authors":"F. Casolo, S. Cinquemani, M. Cocetta","doi":"10.1109/ISMA.2008.4648822","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648822","url":null,"abstract":"Many artificial arms include myoelectric hands and passive elbows. Only at given conditions myoelectrics elbows can profitably substitute the passive ones, with userspsila satisfaction. They must guarantee durability, low noise, adequate torque, low power consumption, low weight, easy motion control and natural movements. Most of these objectives can be reached by good mechanical design of the system. The paper shows the evolution of a project of an artificial elbow developed during the last ten years, comparing four different prostheses. It describes the kinematical analysis of each device, highlighting their mechanical efficiency and the feelings and comfort of patients.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"31 6 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":"131989648","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
Model-Based Fuzzy control of flexible joint manipulator: A LMI approach 基于模型的柔性关节机械臂模糊控制:LMI方法
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648839
M. Seidi, A. Markazi
{"title":"Model-Based Fuzzy control of flexible joint manipulator: A LMI approach","authors":"M. Seidi, A. Markazi","doi":"10.1109/ISMA.2008.4648839","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648839","url":null,"abstract":"In this paper a control approach for a flexible robotic manipulator using a model-based fuzzy technique is investigated. The developed controller is based on Takagi-Sugeno fuzzy modelling and LMI (linear matrix inequality) analysis. By utilizing the concept of parallel distributed compensation (PDC) by considering decay rate and constraints on control input, the design of fuzzy controller is presented. The effectiveness of the proposed method is demonstrated through comparison with other existing methods.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"59 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":"133607410","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: 9
Tools for building energy efficiency estimation 楼宇能源效益评估工具
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648821
A. Al-Mofleh, S. Taib, H. Al-Gulman
{"title":"Tools for building energy efficiency estimation","authors":"A. Al-Mofleh, S. Taib, H. Al-Gulman","doi":"10.1109/ISMA.2008.4648821","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648821","url":null,"abstract":"Energy efficiency tools are pre-design evaluation program, which would give early indications whether the electrical equipments used are giving benefits to energy efficiency sectors or not. The program developed also serve as an indicators for making necessary improvements for the upcoming construction projects, as well as equipped the existing buildings with more applications. Among the tools practiced today, this paper focus on ENERGY-10 as a redesign programmed and the newly build SESE as a post design measurement. Comparison of the two energy efficiency tools would give invaluable information about the planning and also the estimation of energy saving in building.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"30 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":"123459268","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
Optimal PID controller tuning of automatic gantry crane using PSO algorithm 基于粒子群算法的自动龙门起重机PID控制器最优整定
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648804
M. I. Solihin, Wahyudi, M. Kamal, A. Legowo
{"title":"Optimal PID controller tuning of automatic gantry crane using PSO algorithm","authors":"M. I. Solihin, Wahyudi, M. Kamal, A. Legowo","doi":"10.1109/ISMA.2008.4648804","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648804","url":null,"abstract":"In this paper, a novel method for tuning PID controller of automatic gantry crane control using particle swarm optimization (PSO) is proposed. PSO is one of the most recent optimization techniques based on evolutionary algorithm. PSO is also known as computationally efficient method. This work presents in detail how to apply PSO method in finding the optimal PID gains of gantry crane system in the fashion of min-max optimization. The simulation results show that with proper tuning a satisfactory PID control performance can be achieved to drive nonlinear plant. The controller is able to effectively move the trolley of the crane in short time while canceling the swing angle of the payload hanging on the trolley at the end position. The robustness of the controller is also tested.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"15 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":"124889808","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: 48
A basic study of a pillow-shaped haptic device using a pneumatic actuator 枕形触觉装置气动致动器的基本研究
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648859
S. Iwaki, S. Ueki, Y. Nakamura, M. Motegi, K. Ogawa, K. Shimokura
{"title":"A basic study of a pillow-shaped haptic device using a pneumatic actuator","authors":"S. Iwaki, S. Ueki, Y. Nakamura, M. Motegi, K. Ogawa, K. Shimokura","doi":"10.1109/ISMA.2008.4648859","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648859","url":null,"abstract":"As a new haptic device for daily use, a pillow-shaped haptic device using a pneumatic actuator, the Air-pillow telephone, is proposed. The Air-pillow telephone allows an intimate couple at a distance to mutually share the partnerpsilas sense of touch and presence, which cannot be easily conveyed by conventional communication media: text, voice, still image and video. We have developed a prototype system with an air bag driven by a piston-cylinder mechanism. The userpsilas head motion affects the air pressure of the air bag and then its signal is bilaterally transmitted in real time via internet to actuate the partnerpsilas air pillow. Inside the pillowpsilas subtle motion, the user can find the existence of the partnerpsilas haptic language. This paper describes the Air-pillow telephone concept and application as well as implementation of the prototype system, modeling and control design. For the userpsilas sense of touch control method, we propose two control modes: the seesaw mode and the synchronous mode. The validity of the proposed idea was confirmed with successful simulation and experimental results under the TCP/IP network environment.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"147 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":"126916771","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: 10
Enhancing the actuator fault tolerance in autonomous overactuated vehicles via adaptive control allocation 通过自适应控制分配提高自动超驱动车辆执行器容错性
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648851
A. Casavola, E. Garone
{"title":"Enhancing the actuator fault tolerance in autonomous overactuated vehicles via adaptive control allocation","authors":"A. Casavola, E. Garone","doi":"10.1109/ISMA.2008.4648851","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648851","url":null,"abstract":"This paper presents an adaptive actuator allocation scheme that is fault-tolerant with respect to actuator faults and loss of effectiveness. The main idea is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration whenever necessary. A preliminary algorithm is proposed for nonlinear discrete-time systems. Its main properties are summarized in the disturbance-free case and its effectiveness shown by means of two numerical examples, the second one dealing with driving/braking loss of effectiveness due to tire/surface contact force variations in 4WS4WD terrestrial vehicles.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"528 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":"116490548","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: 10
Design and comparison of state feedback with precompensator and H-infinity controlleres for MIMO civil aircraft model 民机MIMO模型状态反馈预补偿控制器与h∞控制器的设计与比较
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648847
I. Hasanzadeh, G. Alizadeh, R. Dalayimilan
{"title":"Design and comparison of state feedback with precompensator and H-infinity controlleres for MIMO civil aircraft model","authors":"I. Hasanzadeh, G. Alizadeh, R. Dalayimilan","doi":"10.1109/ISMA.2008.4648847","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648847","url":null,"abstract":"In this paper we design and compare two modern controllers for a MIMO civil aircraft model; first we design state feedback with precompensator controller so the unstable open loop system tracks reference input truly. Then, H-infinity method is utilized to design the controller using appropriate weighting functions. The objective of the controller is to achieve a good performance along with superior robustness. Simulation results show that in terms of transient response, H-infinity is faster than state feedback with precompensator method. Furthermore control energy of the proposed method is less than state feedback with precompensator method. Robustness analysis shows that H-infinity method is more robust than state feedback with precompensator. Hence, H-infinity has superiority over state feedback approach in terms of performance and robustness.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"107 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":"130411883","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
Architecture philosophy in high integrity electromechanical actuators 高完整性机电致动器的架构理念
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648830
F. Annaz
{"title":"Architecture philosophy in high integrity electromechanical actuators","authors":"F. Annaz","doi":"10.1109/ISMA.2008.4648830","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648830","url":null,"abstract":"The most fundamental concept in designing multi-lane smart electromechanical actuation systems, besides meeting performance requirements, is the realization of high integrity. The main aim of this paper is to provide fundamental consolidation designs schemes in different architectures. The paper will also address other fundamentals that are essential at the design stage, such as force fight (between mismatch lanes) reduction through lane equalization, and threshold settings concepts (scheduled and unscheduled). The analysis is based on a 4-lane actuation system capable of driving aerodynamic and inertial loads (with 2 lanes failed) of an aileron control surface similar to that of the Sea Harrier.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"20 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":"131500348","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
Structured piezo-ceramic mechatronic handling devices for micro and nano manipulations 用于微纳米操作的结构压电陶瓷机电处理装置
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648803
M. Abed Al-Wahab, R. Kasper, K. Kostadinov, D. Chakarov, T. Tiankov
{"title":"Structured piezo-ceramic mechatronic handling devices for micro and nano manipulations","authors":"M. Abed Al-Wahab, R. Kasper, K. Kostadinov, D. Chakarov, T. Tiankov","doi":"10.1109/ISMA.2008.4648803","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648803","url":null,"abstract":"This paper presents the development of a methodology and technology for the appropriate selection and creation of mechatronic handling devices (MHD) able to accomplish certain micro- and/or nano-operation task. As basis actuator, piezo ceramic structures integrated into the mechatronic device are utilized and developed here. Two applications, in bioscience and electrochemistry are foreseen for a demonstration phase. Specific multilayer design approach of piezo-actuated mechatronic handling devices for micro- and nano-operations was proposed based on the method for piezo structures synthesis. Comparison study of the developed mechatronic handling device prototypes is performed based on the obtained simulation and experimental results. Teleoperated control approach is developed based on the impedance scaling technique.","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":"114567039","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
Gradient Field Distribution and Grey Level Co-occurrence Matrix techniques for automatic weed classification 梯度场分布和灰度共生矩阵技术在杂草自动分类中的应用
2008 5th International Symposium on Mechatronics and Its Applications Pub Date : 2008-05-27 DOI: 10.1109/ISMA.2008.4648846
A. J. Ishak, M. Mustafa, A. Hussain
{"title":"Gradient Field Distribution and Grey Level Co-occurrence Matrix techniques for automatic weed classification","authors":"A. J. Ishak, M. Mustafa, A. Hussain","doi":"10.1109/ISMA.2008.4648846","DOIUrl":"https://doi.org/10.1109/ISMA.2008.4648846","url":null,"abstract":"Nowadays it is a requirement to adopt a greener approach in the management of plantation especially when dealing with chemical herbicide to control weed infestation. To do so, selective patch spraying method is a necessity since it can help in minimizing the volume of usage of the herbicide. As such, an intelligent system that can differentiate the different weed is desirable. In this work, we have adopted an image processing approach to detect and classify weed according to its class, namely as either broad or narrow, such that the selective patch spraying strategy can be implemented. This paper describes the procedures involved and its main focus is on the combined use of Gradient Field Distribution (GFD) and Grey Level Co-occurrence Matrix (GLCM) algorithms to extract new feature vector set. The results obtained suggest that the new feature vectors, derived from the GFD and GLCM techniques combined, has unique characteristics that enable perfect discrimination between the two types of weed. Thus, perfect classification was possible when tested with 400 samples of weed images comprising of both types of weed.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"172 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":"116154540","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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