2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.最新文献

{"title":"Preisach based dynamic hysteresis model","authors":"Hong Hu, Huanshui Zhang, R. Mrad","doi":"10.1109/ICIMA.2004.1384312","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384312","url":null,"abstract":"In the paper, a Preisach based dynamic hysteresis model is presented as an extension of the classical Preisach model. Some mathematical properties of the model are discussed. A recursive lorm 01 the hysteresis model suitable lor real-time implementation is also developed. The model is shown through experiments to offer high accuracy when piezoceramic actuators are subject to voltage excitations covering a wide frequency band. Index Term -Dynamic hysteresis, Prebuch model, Piezoceramic uctuutor.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122769946","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":"FFCBS: a simple similarity measurement for time series","authors":"Ye Jia-Cheng, Tang Yin, Peng Hong, Zheng Qi-lun","doi":"10.1109/ICIMA.2004.1384226","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384226","url":null,"abstract":"This paper introduces a new idea FFCBS, on time series distance measurement, which cares the cost that transforms one series to another one. The operation cost of amplitude scaling, y-axis shifting, are introduced into our FFCBS, to give a simple distance definition. Furthermore, c fast simple time warping method is proposed to deal with the dyerent time series of different lengths, to make FFCBS more applicable. With these set-up models. a time series extrapolation solution is given, followed by discussion of several issues. Experimental result shows that our approach is rather fast and more reasonable.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114367624","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":"3-D visual measurement method using rotary vision system","authors":"S. Hata, D. Shima, J. Hayashi, N. Higashi, K. Kaida","doi":"10.1109/ICIMA.2004.1384252","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384252","url":null,"abstract":"Many visual inspection systems have been developed and applied into real production lines and proved their effectiveness. But most of the cases were the 2-D Vision systems. In many cases, the 3-D vision systems for industria! applications employ sophisticated optical systems and require precise calibrations by experts. It is specially designed for every application. To make 3-D industrial vision systems more practical and easy to use, it is required to develop generalpiurpose and robust 3-D measurement method for industrial applications. To meet with the requirements, 3-D Visual Measurement Method Using Rotary Yisiorr System has beerr rieveloped In tkis paper, the basic idea, the optical system and the image processing method using motion picture analysis have been introduced,.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128335660","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":"Team canuck - building a winning robot soccer team","authors":"Hong Zhang","doi":"10.1109/ICIMA.2004.1384141","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384141","url":null,"abstract":"In this talk, I will describe Team Canuck, the robot soccer team from the University of Alberta that has represented Canada to compete in the small-size league (F180) at RoboCup for the past four years. I'will briefly introduce the RoboCup international research initiative, and focus on the development of Team Canuck. The topics include rules of the competition; overall system design, robot construction, vision system, motion planning, software agents, and high-level soccer play software. The talk will conclude with lessons we have learned in the development of this exciting project, our plans for the future, and video clips that show Team Canuck in action in RoboCup competitions.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126821746","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":"An approach for the dynamic compensation of the batch balance in the process control","authors":"Xiaodong Zhang, Xiaohua Wu, Weifeng Diao","doi":"10.1109/ICIMA.2004.1384305","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384305","url":null,"abstract":"According to the current batch control technology, the dynamic model of the incremental balance in the batch pracess is set up far analyzing the weighing accuracy and improving batch control accuracy in the paper. Based on this dynamic model, we clearly understand that the incremental balance is a typical non-linear time-variable dynamic system with two steps, so the method of its dynamic compensation is deeply discussed accordingly. At last, through the numerical simulation, the result of the dynamic compensation about this method is presented to verify its effectiveness.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124113038","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":"Robotic neurosurgery and clinical applications","authors":"W. Shen, Jason'Gu, J. Gu, E. Milios","doi":"10.1109/ICIMA.2004.1384172","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384172","url":null,"abstract":"This paper presents robotic neurosurgery and clinical applications. Firstly, background, objective, motivation and distinct properties of this kind of surgical robots are introduced. Secondly, by analysing current main classifications for surgical robots, neurosurgical robots are divided into two groups, namely, neurosurgical robots anid tele-neurosurgical robots. Then, after the history of surgical robots is briefly reviewed, several prototypes of neurosurgical robots currently used in clinics are discussed in details. As a branch of surgical robots, the design issues about neurosurgical robots not only have the common part as surgical robots, but this field has its special issues, such as high complex image modeling and analysis, high accuracy, and high safety. Therefore, current research challenges are provided and consideratialn about tele-robotic neurosurgical design is put forward. Finally, this paper is concluded with future directions.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126483672","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":"Theoretical analyses and experiments on ultrasonic motor driving fluid directly","authors":"C. Xia, G. Shao, T. Shi, Xiang-chao Wang","doi":"10.1109/ICIMA.2004.1384236","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384236","url":null,"abstract":"Being quite different from the contact ultrasonic motors, in the non-contact ultrasonic motor driving fluid directly the rotor immersed in the fluid doesn't contact with the stator directly. This motor solves many problems of the contact ultrasonic motor, such as shorter life expectancy and continuous running time, and becomes a new research direction in the field of the ultrasonic motor. This paper introduces the unique construction of this motor and the working mechanism. And then the course of transferring energy are discussed, in which the. energy produced by the ultrasonic vibration is transferred to the rotor through the medium of fluid. It is revealed that the shearing Reynolds' stress is the driving force of the fluid flow. After that, this paper makes theoretical anailysis on the acoustic streaming field and sets up the relationship between the acoustic streaming velocity and the rotating speed of the motor. Then the basic operating characteristics of the motor and the relationship between the rotating speed and the driving frequency, the driving voltage, the fluid circumstances and the rotor radius are simulated with MATLAB program. At last the simulation method is proved by experiments.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126334376","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":"Vibration suppression control for a twin-drive geared win on study on effects of model-based system: simulation control integrated into the position control loop","authors":"M. Itoh","doi":"10.1109/ICIMA.2004.1384188","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384188","url":null,"abstract":"This paper deals with a control technique of eliminating the transient vibration of ai twin-drive geared mechanical system with backlash. This technique is based on a model-based control integrated into the position control loop. The control model as a dynamical compensator is composed of a linear reduced-order model related to the velocity control loop and a delay element related to the backlashi. This control model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is dynamically calculated, and it is added to the velocity command to suppress the transient vibratiion generated at the load. Further, a local current Compensating loop is integrated into the current control loop to avoid the interference of the output torque of each motor. In this paper, the performance and the effectiveness of the model-based control integrated into the position control loop is verified by simulations. Simulations show satisfactory control results to reduce the transient vibration at the load.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125458924","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":"Mobile robot localization with improved system model","authors":"Zezhong Xu, Jilin Liu, Yongjin Shi, Keqiang Xia","doi":"10.1109/ICIMA.2004.1384337","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384337","url":null,"abstract":".. I . Abstract -'Mobile robot positiqn estimation is a fundamental problem for autonomous navigation. System equations are generaliy .nonlinear in mobile robotics. Extended Kalman Filter is an efficient tool for mobile robot pose tracking, but it suffers from linearization errors due to linear approximation df.nonlinear system equations.. In .this paper we describe a position estimation method with linear system models. System state vector is augmented and.. the coordinate of landmark is considered'as observation information.' In this way, process and measurement.equations.are linear. The position of mobile robot is estimated recursively based on optimal KF. It avoids linear approximation of nonlinear system equations and is free of linearization error. All these techniques have been implemented on our mobile robot ATRVII equipped with 2D laser rangefinder SICK.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125712866","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":"Entropy feature extraction approach for radar emitter signals","authors":"Gexiang Zhang, Haina Rong, L. Hu, Wei-dong Jin","doi":"10.1109/ICIMA.2004.1384270","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384270","url":null,"abstract":"Radar emitter signal recognition is an important and diffrcult issue in electronic intelligence, electronic Support measure and radar warning receiver systems and is always Traditional methods cannot recognize advanced radar emitters in modern electronic warfare. So aiming at the Characteristics of approach (EFEA) is proposed in this paper. The main points of [3i and non-ambiflity phase EFEA are that an improved approximate entropy (ApEn) restoral approach [41, were Presented to analyze different method and norm entropy (NE) method are presented to extract radar emitter signals. The methods have some drawbacks in features from radar emitter signals. ApEn can measure engineering applications because quantitative analysis is not quantitatively the complexity and irregularity of radar emitter made and varying signal-to-noise rate (SNR) is not signals from a relatively small amount Of data. NE iS a measure considered. Therefore, the methods cannot be applied to of uncertainty, imbalance and disorderliness of signals. EFEA has good characteristics of easy implementation and short computation time. In the experiment, 9 typical radar emitter signals are chosen to make an experiment of feature extraction main'y in and signal recognition. Experimental results demonstrate that processing. Entropy-based describe average accurate recognition rate amounts to 98.28% in a large information-related properties for an accurate representation range of signal-to-noise rate because ApEn feature and NE of a given signal. [51 Approximate entropy (ApEn) is a feature have good characteristics of clustering the same signals statistic that can be used as a measure to quantify the and separating the different signals and have strong stability, complexity and irregularity of both deterministic and which indicates EFEA is effective and practical. stochastic signals. ApEn is firstly presented by Pincus [6] to evaluate the complexity and irregularity of complex systems. short computation time and ApEn can discem changing complexity and irregularity from a relatively small amount of","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129986244","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}