2021 IEEE International Conference on Mechatronics (ICM)最新文献_第10页

Development of a low-cost avionics platform for small-scale model airplanes 小型模型飞机低成本航电平台的开发

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385641

M. D. Maciel

引用次数: 1

Periodic/Aperiodic Hybrid Position/Impedance Control Using Periodic/Aperiodic Separation Filter 使用周期/非周期分离滤波器的周期/非周期混合位置/阻抗控制

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385615

Masaki Hino, Hisayoshi Muramatsu

{"title":"Periodic/Aperiodic Hybrid Position/Impedance Control Using Periodic/Aperiodic Separation Filter","authors":"Masaki Hino, Hisayoshi Muramatsu","doi":"10.1109/ICM46511.2021.9385615","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385615","url":null,"abstract":"Position and force controls of robots are required for tasks such as assembling and polishing. Hybrid position/force control is used to control both position and force of a multi-degree-of-freedom robot, which assigns position and force controls to different axes of the robot. Impedance control is an intermediate control of position control and force control, and hybrid impedance control is also used, which combines the hybrid position/force control and impedance control. The hybrid controls can achieve multiple control objectives with multiple-degree-of-freedom but cannot achieve multiple control objectives at a single-axis. This paper proposes periodic/aperiodic hybrid position/impedance control, where position and force are separated into periodic position, periodic force, aperiodic position, and aperiodic force with a periodic/aperiodic separation filter (PASF). The periodic/aperiodic hybrid position/impedance control assigns position and impedance controls to periodic motion and aperiodic motion at each axis of a robot. Accordingly, the proposed hybrid control achieves periodic and aperiodic control objectives at a single axis. To verify the effectiveness of the proposed hybrid control, we conducted the comparative experiments of the proposed periodic/aperiodic hybrid position/impedance control with conventional hybrid position/impedance control.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"159 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128087558","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

Development of Optimal Design Support System of Actuator Position and Control System Considering Resonant Vibration Suppression in Cantilever 考虑悬臂梁谐振抑制的作动器位置优化设计支撑系统及控制系统开发

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385632

Ryo Ishibashi, K. Seki, M. Iwasaki

引用次数: 1

Fractional-Order Based Resonant Controller for Torque Ripple Suppression of Permanent Magnet Synchronous Motors 基于分数阶谐振控制器的永磁同步电机转矩脉动抑制

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385650

Mingfei Huang, Yongting Deng, Hongwen Li

引用次数: 2

Load Torque Control of an Electromagnetic Motor with a Reduction Gear, a Spring, and Motor/Load-Side Encoders 电磁电机的负载转矩控制与减速齿轮，弹簧和电机/负载侧编码器

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385668

Daichi Kondo, D. Yashiro, K. Yubai, S. Komada

引用次数: 0

Control- Relevant Neural Networks for Intelligent Motion Feedforward 智能运动前馈控制相关神经网络

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385690

Leontine Aarnoudse, W. Ohnishi, Maurice Poot, Paul Tacx, Nard Strijbosch, T. Oomen

引用次数: 9

Self-Controlled In-Vehicle Traffic Light Based on The 4th Generation Mobile Communication 基于第四代移动通信的自动控制车载交通灯

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385614

Yunshun Zhang, Minglei Gao, R. Zheng, Qishuai Xie, Yingfeng Cai

{"title":"Self-Controlled In-Vehicle Traffic Light Based on The 4th Generation Mobile Communication","authors":"Yunshun Zhang, Minglei Gao, R. Zheng, Qishuai Xie, Yingfeng Cai","doi":"10.1109/ICM46511.2021.9385614","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385614","url":null,"abstract":"The interaction between vehicles and road equipment is an important section of intelligent transportation, which can help drivers know road condition in advance to maintain traffic efficiency and safety. Intersections especially unsignalized intersections are main regions occurring traffic accidents. Major part of reason is that drivers can not follow direction indicated by the traffic lights, that is to say, which drivers cannot know traffic lights in advance. And the interaction between traditional vehicles and signal lights mainly depends on eyes of drivers, but the influence of weather, front large truck, signal lamp malfunction and other external factors may cause some interference under the process of the information exchange. Owing to this problem, the authors propose a kind of self-controlled in-vehicle traffic light based on the 4th Generation mobile communication technology(4G) with Raspberry Pi 4B, SIM7600X-4G-HAT, GPS+BD double mode positioning module, 6 channel 5V low level trigger relay, model 300 road lift traffic lights and Android phones. Through the MQTT server, phones as the vehicle terminals interact with traffic lights to accomplish in-vehicle traffic lights. Traffic lights adjust their timing adaptively according to numbers of vehicles within 240s to ease the traffic pressure, which utilizes identification code of Universally Unique Identifier(UUID). Furthermore, broadcasting alert between Android phones is the beginning of information exchange among vehicles. The application is running in the background under the leisure time.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117284753","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

Evaluation of Power-Assisted Cart Based on Inherently Safe Control✶ 基于固有安全控制的电动辅助推车评价

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385605

Y. Minamiyama, Shingo Katada, Yutaka Hirai, T. Kiyota, N. Sugimoto

引用次数: 0

Remarks on Octonion–valued Neural Networks with Application to Robot Manipulator Control 八值神经网络在机器人机械臂控制中的应用

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385617

Kazuhiko Takahashi, M. Fujita, M. Hashimoto

{"title":"Remarks on Octonion–valued Neural Networks with Application to Robot Manipulator Control","authors":"Kazuhiko Takahashi, M. Fujita, M. Hashimoto","doi":"10.1109/ICM46511.2021.9385617","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385617","url":null,"abstract":"High-dimensional neural networks, in which parameters and signals are extended from the real number domain into higher-dimensional domains such as the complex numbers and quaternions, have been attracting attention recently, and applications have been successfully demonstrated. In this study, we explore a hypercomplex-valued neural network using octonions and its application to control systems. An octonion-valued neural network with a feedforward network topology is considered and is applied to the design of a control system for handling dynamic control problems of a robot manipulator. In the control system, the output of the octonion-valued neural network is used as the control input for the robot manipulator to ensure that the end-effector of the robot manipulator tracks a desired trajectory in a three-dimensional space. To validate the effectiveness of using the octonion-valued neural network, computational experiments on controlling a three-link robot manipulator using the proposed control system were conducted, with the simulation results confirming the feasibility and characteristics of this network in practical control tasks.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134604679","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

Hybrid identification with time-series data and frequency response data for accurate estimation of linear characteristics 混合识别时间序列数据和频率响应数据，以准确估计线性特性

2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385701

Ryohei Kitayoshi, H. Fujimoto

引用次数: 1