2021 IEEE International Conference on Mechatronics (ICM)最新文献

{"title":"Wideband Backforward-Drivability Motor Drive Based on Fast Current Control of Geared SPMSM","authors":"Y. Yokokura, K. Ohishi","doi":"10.1109/ICM46511.2021.9385622","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385622","url":null,"abstract":"This paper achieves the wideband backforward-drivability motor drive of Geared surface permanent magnet synchronous motor (SPMSM) modelled as a two inertia resonant system. The control bandwidth of a resonance-ratio-control-based torsion torque controller cannot be broadened due to weak robust stability against gear stiffness variation. To solve the problem with regard to the robust stability, the control bandwidth of the current control system is broadened by using the low-latency space vector pulse width modulation, integrator-less regulators, and accurate parameter identifications. This paper achieves 4 kHz bandwidth of current control and realizes the wideband torsion torque control based on “final integrator cascade scheme.” Even though the gear stiffness variation occurs, the control bandwidth of the outer torsion torque control is set to high frequency. As a result, this paper enhances the backforward-drivability of the geared SPMSM. The experimental results of the current control system and the simulation results of backforward-drivability control confirm that the torsion torque control with fast current control is effective.","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":"128335970","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}

{"title":"Multi Functional Drill Incorporating Linear Motor for Haptic Surgical Instrument and Simulator","authors":"T. Matsunaga, T. Shimono, K. Ohnishi, Shunya Takano, Hironao Kobayashi, M. Yagi, M. Nakamura","doi":"10.1109/ICM46511.2021.9385623","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385623","url":null,"abstract":"In orthopedic surgery, tasks to cut the vertebra by surgical drills involve the risk of the spinal cord injury. Since the spinal cord injury causes motor and sensory disorder to patients, orthopedists who perform spine surgery must have skills to achieve tasks using surgical drills. Although robotic technologies is being applied to orthopedic surgical operations, support for surgeons in delicate tasks requiring surgeon's skills is insufficient. In this study, a multi functional drill available for both a surgical instrument and a simulator is presented. A linear motor incorporated in the proposed device used as a surgical instrument provides support for operators, while measuring position information and estimating force information. Furthermore, environmental information can be abstracted by haptic information such as position and force information. Virtual environment reproduced by the environmental information is presented by the proposed device used as a simulator. The feasibility of the multi functional drill is confirmed by utilizing functions as a surgical instrument and a simulator.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"105 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":"130162608","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}

{"title":"Detection of Reduced Magnetic Attraction Force Using a Disturbance Observer for Crawler Robots","authors":"Natsuki Kageyama, Takeshi Nishimura, T. Itoh, T. Atsumi, S. Nakadai","doi":"10.1109/ICM46511.2021.9385660","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385660","url":null,"abstract":"This paper presents an estimation method for the magnetic attractive force between a crawler robot and a moving surface. The robot has crawlers which have magnets to climb a wall. However, there is a problem that the robot may fall when the magnetic attraction force becomes weak. To solve this problem, we employ a disturbance observer in the control system of the crawler drive motor. The experimental results confirmed that the proposed method can detect the risk of falling due to the decreasing the magnetic attraction force between the crawler robot and the moving surface.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 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":"131065442","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}

{"title":"Application of Limited Pole-Placement Method to State Feedback System","authors":"Y. Urakawa","doi":"10.1109/ICM46511.2021.9385646","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385646","url":null,"abstract":"Digital control systems often have delay factors for practical use. Although these delays are assumed to be sufficiently small, in many cases, they should not be ignored because calculation delays occur in at least one sampling period. Such delays in the digital control system make the control system vibrational. If the servo bandwidth is widened, a delay makes the system unstable. Thus, the author proposes a limited pole-placement method to make the system less vibrational and to analyze the limit of the servo bandwidth arising from the delay. In this study, the LPP method is applied to a state feedback system. A simulated example of a two-mass resonant system is shown.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"58 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":"115241459","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}

{"title":"A Study on Performance and Stability of Current Control Systems by Using Multi-Level Inverters","authors":"Shota Kuroda, K. Natori, Yukihiko Sato","doi":"10.1109/ICM46511.2021.9385610","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385610","url":null,"abstract":"In motion control systems, detailed characteristics of power converters are usually not considered. Practically, voltage ripple, harmonics, and electromagnetic interferences (EMI) generated in widely used 2-level inverters become concerns to realize a high-performance control. Compared with 2-level inverters, multi-level (ML) inverters essentially reduce these problems. Furthermore, the equivalent carrier frequency of N-Ievel ML inverters is expected to be N-l times higher than that of the 2-level inverters in case that a carrier phase-shifted modulation is utilized. This paper focuses on the equivalent carrier frequency and studies the performance and stability of current control systems by using ML inverters.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"21 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":"117082776","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}

{"title":"In-Vehicle Traffic Light based on Local Area Network","authors":"Yunshun Zhang, Qishuai Xie, R. Zheng, Minglei Gao, Yingfeng Cai","doi":"10.1109/ICM46511.2021.9385657","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385657","url":null,"abstract":"The safety of intelligent vehicles has always been the focus of the society. While pursuing driving pleasure, drivers pay more attention to whether intelligent vehicles can bring a safe and well-controlled road experience. Safety depends on drivers' driving habits, but a well-equipped transportation system and the auxiliary equipment in intelligent vehicles cannot be ignored. The interaction between traditional vehicles and signal lights mainly depends on the drivers' eyes, but the influence of front large truck, signal lamp malfunction and other external factors may cause some interference under the process of the information exchange. Human observation is real-time but in-vehicle traffic lights are ahead of the observation, making drivers decide to pass the intersection or slow down. We proposed an in-vehicle signal reveal system to assist drivers at intersections based on Local Area Network (LAN). Firstly, Android smart phones are used to simulate the process of vehicle (client) interaction with signal lights (terminal). When the vehicle arrives at the middle of two intersections, it will proactively transmit its position information to the traffic lights. The traffic lights will send the current traffic signal operating information to the vehicle through processing the vehicle position, and finally implement in-vehicle traffic lights. The advance warning of the signal lights in the car can effectively shorten the reaction time of drivers, for improving driving attention and avoiding fatigue driving. Meanwhile, the proposed promising complement with autonomous environment perception can significantly promote the development of assisted driving as well as automatic driving technologies. Even through V2V communication, traffic lights on the network can be formed at intersections where the display of traffic lights are blocked or damaged, for improving the safety of driving as well as reducing traffic disturbance.implement in-vehicle traffic lights. The advance warning of the signal lights in the car can effectively shorten the reaction time of drivers, for improving driving attention and avoiding fatigue driving. Meanwhile, the proposed promising complement with autonomous environment perception can significantly promote the development of assisted driving as well as automatic driving technologies. Even through V2V communication, traffic lights on the network can be formed at intersections where the display of traffic lights are blocked or damaged, for improving the safety of driving as well as reducing traffic disturbance.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"73 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":"124698263","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}

{"title":"Adaptive Cutting Force Observer for Machine Tool Considering Stage Parameter Variation","authors":"K. Ohno, H. Fujimoto, Yoshihiro Isaoka, Yuki Terada","doi":"10.1109/ICM46511.2021.9385598","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385598","url":null,"abstract":"Monitoring cutting force generated during the machining process is crucial to prevent tool breakage and chattering. The cutting force observer, which considers the machine tool as the two-inertia system, has been proposed to estimate cutting forces in wide bandwidth using multiple encoders. However, modeling errors and the parameter variation during machining can deteriorate estimation accuracy in such a model-based observer. Previous studies solved some modeling error issues, but inertia, friction, and other parameters that belong to the moving stage had rarely considered. Therefore, the adaptive cutting force observer is proposed in this paper. The proposal consists of online stage parameter identification and updating algorithm. The effectiveness of the proposed adaptive observer is demonstrated through the experiments using the simplified experimental setup.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"50 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":"129652746","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}

{"title":"Observer-based Angle of Attack Estimation for Tilt-Wing eVTOL Aircraft","authors":"Kentaro Yokota, H. Fujimoto, Hiroshi Kobayashi","doi":"10.1109/ICM46511.2021.9385670","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385670","url":null,"abstract":"Research and development have been very active in electric vertical takeoff and landing (eVTOL) aircraft. Tilt-Wing aircraft especially receive significant attention as one of the most efficient configurations; however, they are apt to be unstable during the transition from hover to cruise. The angle of attack (AoA) is a critical parameter for aircraft motion, and with its real-time data, Tilt-Wing aircraft would achieve a more robust transition. Conventional methods of obtaining AoA require either additional sensors or an aircraft model, which is not robust to propeller slipstreams and unsuitable for Tilt-Wing aircraft. In this paper, a new AoA estimation method for Tilt-Wing aircraft is proposed. The proposed method is based on the propeller dynamics model and requires only an existing pitot tube. Wind tunnel tests verify its effectiveness.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"7 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":"121003052","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}

{"title":"A Deep Learning-based Approach to Line Crossing Prediction for Lane Change Maneuver of Adjacent Target Vehicles","authors":"Xulei Liu, Ge Jin, Yafei Wang, Chengliang Yin","doi":"10.1109/ICM46511.2021.9385665","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385665","url":null,"abstract":"Forecasting the motion of surrounding vehicles is a key issue for autonomous vehicles to assess potential risks and avoid collisions. Among them, the sharp lane change of vehicle in adjacent lane has a greater impact on the ego vehicle. In this paper, we propose a deep learning-based approach to predict the lane change maneuver of adjacent vehicles and quantitatively estimate the position and time to line crossing point (PTLC). In order to distinguish the real lane change from an unintentional drifting between lane boundaries and make accurate prediction of the line crossing point, the features of vehicle kinematics and the driver's driving style as well as the interaction with surrounding vehicle are extracted. Furthermore, a deep neural network is used to process and fuse these features to obtain the probability distribution of PTLC, in which a gated recurrent units (GRU) is adopted as an improvement to robustly learn the historical trajectory of the adjacent target vehicle. Experiments using the data collected from highways show that the proposed method can achieve a reliable prediction of the driver's intention and line crossing point.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 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":"128084900","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}

{"title":"Suppressing spatially distributed disturbances by exploiting additional sensors and actuators in inferential motion control","authors":"N. Dirkx, T. Oomen","doi":"10.1109/ICM46511.2021.9385648","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385648","url":null,"abstract":"Structural deformations resulting from exogenous disturbances limit the control performance in high-precision positioning systems. The aim of this paper is to identify these limitations and mitigate these through multivariable inferential control. A systematic analysis and control design framework is established. Herein, additional sensors and actuators are exploited to achieve control performance beyond conventional limits. Successful performance enhancement using the presented methods is shown on an identified wafer stage model.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"22 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":"128118735","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}