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

{"title":"Mobility analysis of the 3-UPU parallel mechanism based on screw theory","authors":"Liwen Guan, Jin-Song Wang, Liping Wang","doi":"10.1109/ICIMA.2004.1384210","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384210","url":null,"abstract":"A method based on screw theory is proposed to perform mobility analysis of a 3-UPU manipulator with three translational degrees. The method includes four steps: (1) representation of motions of joints in each serial kinematic chain in a 3-UPU manipulator with screws (twist system); (2) generation of wrenches reciprocal to all twists in each serial chain; (3) put wrenches of all three! serial kinematic chains together in a reference frame; (4) analyse all wrenches of all serial chains independently and get the independent constraint motions of end effector. If the number of the allowed independent motions is more than the number of anticipant degrees of freedom, the parallel manipulator has uncontrollable degrees of freedom and is in singular configuration. Three types of singularity are given and posture calculating method for each type of singularity is proposed.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"13 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":"127578430","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":"Experimental teleoperation of a dual-arm manipulator mounted on a flexible structure in space","authors":"D. Nenchev, T. Hishinuma","doi":"10.1109/ICIMA.2004.1384219","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384219","url":null,"abstract":"Abstmct- This paper describes an experimental system for teleoperation of a dual-arm manipulator mounted on a flexible base. The manipulators and the base are arranged in the horizontal plane so that gravity forces can be neglected and a long-reach manipulator for space application is envisioned. Based on the Reaction Null Space concept developed previously, we propose several strategies for telecontrol of the dual-arm manipulator and verify their perfomance experimentally.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"4 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":"124418761","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":"Functional neuromuscular stimulation limb motion control using adaptive iterative learning algorithm","authors":"Huaiyu Wu, Jun Li, Lijuan Hu, Kang-ling Fang","doi":"10.1109/ICIMA.2004.1384175","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384175","url":null,"abstract":"A discrete time-varying nonlinear model with undetermined and unexpected perturbations is firstly investigated according to the nonlinear phenomena of the limb muscles. A general expression based on the adaptive iteration learning control algorithm is developed, and the control algorithm structure block diagram is then presented. Based on the multi- purpose functional neuromuscular stimulation (FNS) limb motion control system, the clinical experiments on motion trajectory- following of elbow flexion and wrist flexion were successfully conducted by meaas of both the adaptive iteration learning control algorithm and the conventional control algorithm. The clinical experimental results demonstrated that the adaptive iteration learning control algorithm is more suitable for the improvement of the dynamic response characteristics and the stabilization of limb motion than conventional control algorithm. Furthermore, the stimulated patients have not any bad physiological reactions because the output electrical stimulation pulses generated by the adaptive iteration learning control algorithm vary gently.","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":"121945777","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":"Residual stress induced deformation of bilayer plate with patterned additional layer","authors":"D. Qiao, W. Yuan, Wei-Jian Li","doi":"10.1109/ICIMA.2004.1384206","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384206","url":null,"abstract":"Bilayer material systems find wide application in Micro ElectroMechanical systems (MEMS)., especially serving the reflective surface roles in optical MEMS. Unlike the bilayer with fully covered additional layer, the stress related deformation of bilayer with patterned additional layer has been rarely studied. In this paper, we present the out-of-plane deformation response of polysilicon plate with patterned gold layer subjected to residual stress. Stress gradient through the thickness of the polysilicon plate is taken into account to iintroduce a initially dome shaped deformation into the polysiliconi plate. Because this kind of bilayer is mainly used in flat micromirror, the commercially available microlens determines the size of the mirror plate and the fabrication foundry determines the thickness of the additional layer, only the rlelationship between the deformation and the gold pad size was situdied. In order to understand the influence of the residual stress of the gold layer, different residual stresses were tried. The average curvature approach proved not suitable to characterize the deformation of this kind of bilayer plate,. and the peak-to-valley (PV) flatness was proposed. The result of numerical analysis shows under given residual stress of gold layer, there is one and only one minimum PV point. Increasing of additional layer residual stress will decrease the minimum PV related gold pad size, but increase the minimum PV.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"13 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":"125513230","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 outliers in spatial data by using local difference","authors":"Zhang Shuyu, Zhu Zhongying","doi":"10.1109/ICIMA.2004.1384228","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384228","url":null,"abstract":"Detection of outliers in spatial data is different from h e a r model of ordinary and independent sample data because there is strong correlation among the data. Most of spatial outliers detection method are based on standardized residuals of Kriging prediction and are easy affected by masking and swamping affection when multiple outliers are present. Mean while due to the limitation of Kriging linear model, the method usually can't correctly estimate the difference between outliers and their neighboring data. In this paper, we suggested a new criterion using local difference to estimate the difference. Because of using .positional relation to replace correlation of spatial data, the method can avoid masking and swamping problems, and can correctly estimate the difference of spatial data. The validity of the method is shown in example based on several simulated spatial dataset. Index termlrpatial data, Kriging prediction model, Outliers detection, Local difference","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"15 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":"122329943","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 learning algorithm of multilaver dynamics associative neural network based on generalized hebb rule","authors":"Yi-fei Pu, Ke Liao, Jiliu Zhou","doi":"10.1109/ICIMA.2004.1384314","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384314","url":null,"abstract":"Albrrad-Multilay erdynsm*sarsocia tivenwraln~ork~~ is a spa.cjoint random architeeturr with feedback The neees~~ly for the existem of the architffhup show that the research for synaptic weight haining ip in need. In the Gmt, the pap analyzes the differenoe between Inultilayer dynamics dtive network with double layer associative nymo'y network, BS well as the resemblance with discrete Hopfield nehvork by physics model Then, it proves the stability of !earning Plgorithm of multilayer dynamics associatiVe nehvork based on genernlhed Hebb rule in mathematics The 6mulahi.e experiment for the algorithm getr 6ne result and SOW a fundamental Bue of muhilayer .dynamiw dhe nerve in enginewing praciicea and researeh in \"ly. IkTm-MukiLpw-eGenemlired Hebb rule, Discmte Hopfipldnehwrk, SynrIpbc wpigks Lyqunov fdn I. QUES~ONTO~~~~OUI","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"22 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":"125738737","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":"Research on subsumption architecture and application in dynamic programming of robot","authors":"Liu Zhou, Zhu Qidan, Yang Dongmei, Zhang Xiuping","doi":"10.1109/ICIMA.2004.1384250","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384250","url":null,"abstract":"This paper describes ongointg investigation into the subsumption control of robots. Subsumption architecture is a relatively new and simple approach to the control of robot systems. With subsumption control, the robiot is controlled by a set of simple processes. Each of the process is designed to provided the robot with a simple competence, for example, the ability to avoid contact with obstacles, to wander aimlessly around without hitting things or to explore the robot's environment. This paper includes: 1) reviewing subsumption architecture; 2) some methods proposedl to improve the emciency of this architecture; 3) the implementation of these methods and primitive abilities, such as, wandering behavior, collision avoidance, and navigation. The enhianced architecture is more effective than the original one.","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":"134009989","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":"Operating characteristic evaluation of a human scale tele-operating system","authors":"Jian Wang, Shuxiang Guo","doi":"10.1109/ICIMA.2004.1384151","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384151","url":null,"abstract":"In the medical field and biotechnology application, a new type of human scale teleoperating system used to carry out three-dimensional high-speed micromanipulation is demanded urgently. In this paper, we deal with a human scale teleoperating system. Is order to operate microobject in human scale (the working table or micromanipulator) with multi-DOFs, a macrohicro mechanism system is proposed. Firstly, we design a precision parallel micromechanism with 6 DOFs (10 p n moving range, 10 nm resolving power), and compose the macrolmicro mechanism. Then, we also did the complex control for the macrolmicro mechanism. The experimental results indicate the proposed Macrolmicro mechanism can be controlled by teleoperation, and it is very useful for human scale micro operation system.","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":"132684098","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 cou ling control for position synchronizati n of two otion axes: theory and application","authors":"Dong Sun, Xiaoyin Shao","doi":"10.1109/ICIMA.2004.1384235","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384235","url":null,"abstract":"Abst act A new control algorithm for position synchronization of two motion axes is eveloped, by incorporating cross-coupling technology a to adaptive control architecture. The proposed cont oller and parameter estimator employ feedbacks of the position error of each axis and the synchronizatio error of two axes. It has been proved in theory that the proposed controller guarantees asymptotic converge ce to zero of both position tracking errors and the posi ion synchronization error. Experimental results demo strate effectiveness of the proposed method.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"56 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":"129446831","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":"Model predictive control for simultaneous robot tracking and regulation","authors":"Dongbing Gu, Huosheng Hu","doi":"10.1109/ICIMA.2004.1384191","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384191","url":null,"abstract":"Model Predictive Control (IMPC) is used in this paper for tracking and regulation of a nonholonomic mobile robot. To guarantee MPC tracking stability, a control Lyapunov function is employed. Based on a control Lyapunov function, the cost function of MPC is added a terminal state penalty. And a terminall state region is found to constrain terminal state. The analysis results show that the MPC tracking control has simultaineous tracking and regulation capability. Simulation results are provided to verify the proposed control strategy. It is shown that the control strategy is fedsible. Keywords-Receding horizon control, Model predictive control, nonholonomic mobile robots I. INTRODUCTtON Tracking control of nonholonomic mobile robots is to control the robots to move along a given time vary trajectory (reference trajectory). It is fundamental motion control problem and has been intensively investigated in robotic community using different approaches [2][4][6] [9][10][15][16][24][26]. Recently, controllers with simultaneous tracking and regulation capability have been explored. A differential kinematic cortroller was developed in [8], which provides a global exponential stable property for both tracking control and regulation. A unifying framework for tracking and regulating control was presented in [21] by using dynamic feedback linearisation. However, these two research results were not using a single controller. The switch between their controllers for tracking and regulation is required. In [ 181, a single global stable controller with simultaneous tracking and regulating capability was reported by using backstepping technique while it includes saturation constraints of control signals. Besides the stability and saturation constraints consideration in these research for tracking control, tracking performance, such as tracking time, trajectory length or control energy, are also crucial. Model Predictive Control (MPC) is one of the frequently applied optimisation control techniques in industry. It is designed to handle a constrained optimisation problem [20]. Due to the use of predictive control horizon in MPC, the control stability becomes one of the main problems [l]. It was shown that using infinite receding horizon can guarantee the control stability for even nonlinear systems [ 171, but it is computational intractable in practice. For finite receding horizon, it was proved that forcing the terminal state to equal zero can guarantee the stability [23]. However, the terminal state equality constraint costs long time for the optimisation. Further work shows that the terminal state equality constraint can be relaxed as a terminal state inequality, i.e. a terminal state region, by adding a terminal state penalty to the optimised cost function if a linear state feedback controller exists in the terminal state region [5][7]. Furthermore, the linear feedback control is never applied to the system since it is only used to find the terminal state region","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"14 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":"132079931","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}