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

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Feedforward Control for Track-Seeking Control in Hard Disk Drive with Sampled-Data Polynomial Based on First-Order Hold 基于一阶保持器的采样数据多项式的硬盘寻迹前馈控制
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385647
Kazuho Igarashi, R. Igarashi, T. Atsumi, S. Nakadai
{"title":"Feedforward Control for Track-Seeking Control in Hard Disk Drive with Sampled-Data Polynomial Based on First-Order Hold","authors":"Kazuho Igarashi, R. Igarashi, T. Atsumi, S. Nakadai","doi":"10.1109/ICM46511.2021.9385647","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385647","url":null,"abstract":"To decrease the seek time of hard disk drives (HDDs), we proposed a feedforward control method by using a sampled-data polynomial based on a first-order hold (FOH). The proposed sampled-data polynomial satisfies the boundary conditions that include the characteristics of the FOH and compensates for the discretization error caused by the FOH without the need for complicated calculations. In this study, we substituted the FOH for a conventional zero-order hold (ZOH) in the feedforward control system of the magnetic-head positioning control system in HDDs. Simulation results of the track seeking control of the HDD showed that the proposed method enable us to reduce the tracking error and the seek time.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"76 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":"125284789","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
Prototype of 32-Joint Robot Hand Using Shape Memory Gel and Tendon-Driven Mechanism 基于形状记忆凝胶和肌腱驱动机构的32关节机器人手原型
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385678
M. Yamano, A. Okamoto, Ryuhei Miyoshi, T. Yasuda, Yasutaka Nishioka, M. D. N. I. Shiblee, Kazunari Yoshida, H. Furukawa, R. Tadakuma
{"title":"Prototype of 32-Joint Robot Hand Using Shape Memory Gel and Tendon-Driven Mechanism","authors":"M. Yamano, A. Okamoto, Ryuhei Miyoshi, T. Yasuda, Yasutaka Nishioka, M. D. N. I. Shiblee, Kazunari Yoshida, H. Furukawa, R. Tadakuma","doi":"10.1109/ICM46511.2021.9385678","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385678","url":null,"abstract":"This paper presents the prototype of a robot hand using shape memory gel (SMG) and tendon-driven mechanism based on our concept. The finger of the robot hand can be designed to have many bendable parts which can be considered as joints. The number of the motors can be smaller than that of bendable parts. We can select a bending part of the finger as desired. Bending part of the SMG finger is heated by nichrome wires and becomes soft enough to be easily bent by tendon-driven mechanism. An efficient driver circuit for heating many parts of SMG by many nichrome wires is proposed. Examples of finger motion and grasping an object are performed to show the effectiveness of our concept.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"296 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":"116874128","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
GBDT Modeling of Deep Reinforcement Learning Agents Using Distillation 基于蒸馏的深度强化学习智能体GBDT建模
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385636
Toshiki Hatano, Toi Tsuneda, Yuta Suzuki, Kuniyasu Imade, Kazuki Shesimo, S. Yamane
{"title":"GBDT Modeling of Deep Reinforcement Learning Agents Using Distillation","authors":"Toshiki Hatano, Toi Tsuneda, Yuta Suzuki, Kuniyasu Imade, Kazuki Shesimo, S. Yamane","doi":"10.1109/ICM46511.2021.9385636","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385636","url":null,"abstract":"In recent years, the field of deep reinforcement learning has been developed, and it has become possible to learn complex task processing automatically. However, it is difficult to verify the safety of deep reinforcement learning methods because their contents are not clear, and it is difficult to find a way to improve them. Therefore, in this study, we aimed to transform the solution obtained internally by deep reinforcement learning into a GBDT model using distillation, which is commonly used in the imaging field. This method enables us to confirm the validity of the obtained model by converting the solution represented by the neural network into a GBDT model, which reduces the number of calculations and speeds up the processing time.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"40 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":"131125133","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
Autonomous vehicle navigation based in a hybrid methodology: model based and machine learning based 基于混合方法的自动驾驶汽车导航:基于模型和基于机器学习
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385629
Marcone Ferreira Santos, A. Victorino
{"title":"Autonomous vehicle navigation based in a hybrid methodology: model based and machine learning based","authors":"Marcone Ferreira Santos, A. Victorino","doi":"10.1109/ICM46511.2021.9385629","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385629","url":null,"abstract":"For decades researchers have attempted to make the car drives autonomously. One of the challenges of developing this kind of system is the environment detection and understanding where the car is supposed to drive, and control the vehicle on a safe way, based upon on the perception of the environment, provided by on-boarded sensors (cameras, LIDAR). The existing navigation methods applied to solve this problem can be organized in two categories: those based on “geometrical or physical models” and those based upon on “machine learning models”. Machine Learning based models can have good performance when trained appropriately, however, due to its “black-box” characteristics (lack of physical meaning), it can return non accurate output or even wrong values in unseen situations, leading the vehicle to collision. In the other hand, Geometric or physical approaches are designed under certain approximately modeling assumptions, based on physical/geometrical parameters that are uncertain or can not be identified, and becomes a painstaking work as it gets more complex. This paper presents a hybrid autonomous navigation methodology, which takes advantage of the learning capability of Machine Learning (ML) models, and uses the safeness of the Dynamic Window Approach geometric method. Using a single camera and a 2D LIDAR sensor, the proposed method actuates as a high level controller, finding optimal vehicle velocities to be applied by a low level controller. The system algorithm is validated on CARLA Simulator environment, where a vehicle coupled by this system proved to be capable of achieving the following tasks: Lane keeping and obstacle avoidance.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"11 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":"131246070","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
On the Accuracy of IMUs for Human Motion Tracking: a Comparative Evaluation 人体运动跟踪imu精度的比较评价
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385684
Mattia Guidolin, Razvan Andrei Budau Petrea, R. Oboe, M. Reggiani, E. Menegatti, L. Tagliapietra
{"title":"On the Accuracy of IMUs for Human Motion Tracking: a Comparative Evaluation","authors":"Mattia Guidolin, Razvan Andrei Budau Petrea, R. Oboe, M. Reggiani, E. Menegatti, L. Tagliapietra","doi":"10.1109/ICM46511.2021.9385684","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385684","url":null,"abstract":"Inertial Measurement Units (IMUs) are becoming more and more popular in human motion tracking applications. Among the other advantages, wearability, portability, limited costs, and accuracy are the main drivers of their increasing use. These devices are nowadays well-established commercially available products, ranging from few to hundreds of Euros. The main purpose of this study is to investigate the potentialities and the limits of IMUs belonging to different commercial segments in providing accurate orientation estimates within the operating conditions characterizing human motion. These are simulated employing a direct drive servomotor, to ensure accuracy and repeatability of the whole assessment pipeline. Both static and dynamic conditions are analyzed, the latter obtained by varying frequency and amplitude of a sinusoidal motion, thus evaluating the performances for a broad set of movements. IMUs orientations are estimated through proprietary filters, when available, and then compared with the well-established Madgwick's filter, to effectively investigate the performances of the on-board sensors. Results show that the low-cost IMUs are suited for applications requiring low bandwidth, while the comparison through Madg-wick's filter did not highlight appreciable differences among the IMUs.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"16 3 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":"121081202","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
Picometer-Scale Positioning of a Linear Drive System via Feedforward-Feedback Control 基于前馈-反馈控制的直线驱动系统的皮米定位
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385699
Alex S. Huaman, M. Katzschmann, S. Hesse, C. Schäffel, C. Weise, D. Dontsov, E. Manske, J. Reger
{"title":"Picometer-Scale Positioning of a Linear Drive System via Feedforward-Feedback Control","authors":"Alex S. Huaman, M. Katzschmann, S. Hesse, C. Schäffel, C. Weise, D. Dontsov, E. Manske, J. Reger","doi":"10.1109/ICM46511.2021.9385699","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385699","url":null,"abstract":"This paper deals with the controller design of a linear drive system with potential applications in picometer-scale positioning. The displacement is measured using a high-precision differential plane-mirror laser interferometer. However, this measured signal must be filtered for control purposes and performance validation. For tracing picometers, we adopt a model-based 2-DOF control architecture with a feedforward stage for model-following and a feedback stage for stabilization and compensation of constant disturbances. A straightforward way to deal with noise is to use a feedback controller based on estimated (and filtered) states, which can be generated by a Kalman-Bucy filter. The effectiveness of the presented control strategy is verified via real-time experimentation, where the overall control scheme allows positioning in the picometer level. Moreover, comparative tests in the frequency domain were conducted using the so-called PI-LQR feedback controller based on estimated states.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"200 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":"116155837","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
Modeling and Control Performance Evaluation for Testbed of Asteroid Flyby Observation System 小行星飞越观测系统试验台建模与控制性能评价
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385631
K. Hayashi, K. Seki, M. Iwasaki
{"title":"Modeling and Control Performance Evaluation for Testbed of Asteroid Flyby Observation System","authors":"K. Hayashi, K. Seki, M. Iwasaki","doi":"10.1109/ICM46511.2021.9385631","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385631","url":null,"abstract":"A flyby is a mission that a spacecraft passes a planet or an asteroid in space to acquire fruitful information through observation. In the mission, an imaging system with a tracking device should be stably pointed in the direction of the asteroid to take physically significant images. This paper investigates the feasibility of the flyby mission through the testbed of the tracking device. From the viewpoint of compact size, lightweight, and high-accuracy transmission, a strain wave gearing is used in the actuation system. In this study, a testbed of the tracking mirror-driven system using the strain wave gearing is designed to conduct preliminary tests before the actual mission. For the model-based design and detailed verification in the design stage, an accurate numerical simulator is developed by considering the nonlinearities such as nonlinear friction and angular transmission error in the strain wave gearing. The feasibility of the mission is discussed based on the numerical simulations and experimental results using the testbed and expected tracking trajectory of the mission.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"33 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":"117258285","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
On-line Estimation of Current Harmonics for Status Monitoring and Diagnosis of High-Speed Permanent Magnet Synchronous Motors 用于高速永磁同步电机状态监测与诊断的电流谐波在线估计
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385654
Yansong Lu, Xi Zhang, Chong Zhu, Jingxuan Li, K. Sun, Tenghui Dong
{"title":"On-line Estimation of Current Harmonics for Status Monitoring and Diagnosis of High-Speed Permanent Magnet Synchronous Motors","authors":"Yansong Lu, Xi Zhang, Chong Zhu, Jingxuan Li, K. Sun, Tenghui Dong","doi":"10.1109/ICM46511.2021.9385654","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385654","url":null,"abstract":"The phase current of the permanent magnet synchronous motors (PMSM) commonly contains nonnegligible sideband harmonics due to the working characteristic and the pulse-width-modulation (PWM) of the power electronics for power supply, especially at high speed operation. These harmonics will degenerate the output performance of machine, generate additional losses, and threaten the thermal safety. Therefore, the current harmonics are eager to be accurately obtained and analyzed in real-time to achieve better status monitoring and diagnosis. This paper proposes a high-accuracy online estimation method for harmonics with good portability, which has been validated by the comparison of online/offline results. Moreover, obtaining the harmonic distribution and magnitudes can also provide a reliable reference for numerous future analysis and optimization in the motor design stage.","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":"126768987","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
Development of Reluctance Actuator for High-Precision Positioning and Scanning Motion 用于高精度定位和扫描运动的磁阻驱动器的研制
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385649
Ines Burgstaller, S. Ito, H. Fujimoto, G. Schitter
{"title":"Development of Reluctance Actuator for High-Precision Positioning and Scanning Motion","authors":"Ines Burgstaller, S. Ito, H. Fujimoto, G. Schitter","doi":"10.1109/ICM46511.2021.9385649","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385649","url":null,"abstract":"To utilize the high force of reluctance actuators for high-precision fast scanning motion, this paper presents a nanopositioner that integrates two reluctance actuators for a bidirectional force and investigates its achievable performance. A challenge of reluctance actuators is their force-current nonlinearity. To model it accurately for compensation, a displacement sensor for real-time motion control is utilized to measure the force curves. A model based on the experiments is used to compensate for the nonlinearity by means of feedback linearization. It successfully decreases a total harmonic distortion of sinusoidal scanning trajectories from 25 % to 2.6 %, which is further improved to 1.45 % by linear position feedback control. The achieved bandwidth and the positioning resolution are 335 Hz and 2 nm. Additionally, feedforward control is designed, and sinusoidal scanning motions at 1 Hz and 100 Hz are evaluated for a feasibility study to find out challenges and potentials of reluctance actuators.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"23 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":"126325555","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
Diagnosis of Sensor Faults in PMSM and Drive System Based on Structural Analysis 基于结构分析的永磁同步电机及驱动系统传感器故障诊断
2021 IEEE International Conference on Mechatronics (ICM) Pub Date : 2021-03-07 DOI: 10.1109/ICM46511.2021.9385663
S. Ebrahimi, M. Choux, Van Khang Huynh
{"title":"Diagnosis of Sensor Faults in PMSM and Drive System Based on Structural Analysis","authors":"S. Ebrahimi, M. Choux, Van Khang Huynh","doi":"10.1109/ICM46511.2021.9385663","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385663","url":null,"abstract":"This paper presents a model-based fault diagnosis method to detect sensor faults in permanent magnet synchronous motor (PMSM) drives based on structural analysis technique. The structural model is built based on the dynamic model of the PMSM in matrix form, including unknown variables, known variables, and faults. The Dulmage-Mendelsohn (DM) decomposition is applied to evaluate the redundancy of the model and obtain redundant testable sub-models. These testable redundant sub-models are used to form residuals to observe the system state, and distinguish between healthy and faulty conditions. This work investigates faults in eleven sensors in a PMSM drive, thus nine structured residuals are designed to detect and isolate the investigated faults, which are applied to the system at different time intervals. Finally, the effectiveness of the proposed diagnostic approach is experimentally validated on an in-house setup of inverter-fed PMSMs.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"19 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":"122145942","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
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