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2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)最新文献

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Soft Jamming Gripper with the External Prominence of Membrane for Human-Robot Cooperation 面向人机协作的膜外凸软卡爪
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988671
Rasool Shahsevani, S. Reitelshöfer, R. Alimardani, J. Franke
{"title":"Soft Jamming Gripper with the External Prominence of Membrane for Human-Robot Cooperation","authors":"Rasool Shahsevani, S. Reitelshöfer, R. Alimardani, J. Franke","doi":"10.1109/ICCMA46720.2019.8988671","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988671","url":null,"abstract":"Designing grippers as robotic hands is one of the largest challenges in robotics. The process of gripping and moving is achieved in different ways through various models of robotic grippers. Dexterous, careful and useful robotic gripper not necessarily need to be a claw or an artificial hand with several fingers. A promising technical alternative is the so-called jamming gripper, which is made of a flexible membrane filled with appropriate powder, e.g. ground coffee, as an assistive device to join in robots. The purpose of the work described in this paper is to develop a robotic gripper with an advanced surface structure with external prominence to enhance the smooth exterior of the membrane. Tests are performed to determine the influence of the different objects and friction force of the membrane on the gripping performance and holding force of the gripper system. The results show that by improving the outer surface geometry of the membrane, friction is increased under the same condition, e.g. vacuum and pressure, so that heavier objects can be lifted. In particular, the holding force of the uneven surface membrane (USM) is much higher than the smooth surface membrane (SSM) to grip the various objects.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115892614","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
Design and Development of a Low-Cost High-G Centrifuge System (Cyclone) 低成本高重力离心(旋风)系统的设计与研制
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988601
N. Mohajer, Z. Najdovski, S. Nahavandi
{"title":"Design and Development of a Low-Cost High-G Centrifuge System (Cyclone)","authors":"N. Mohajer, Z. Najdovski, S. Nahavandi","doi":"10.1109/ICCMA46720.2019.8988601","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988601","url":null,"abstract":"High-G Centrifuge Systems provide a safe and controllable environment for G motion fields required for fighters’ pilots training. Lacking an operational Human Centrifuge System in Australia, the Institute for Intelligent Systems Research and Innovation (IISRI) at Deakin University has designed and built a low-cost High-G Centrifuge System, named Cyclone. Cyclone has the capability of generating a maximum sustained acceleration of 9G with an onset rate of 5G/sec. The system has an effective arm length of over 5m, which is actuated by a capable gear-motor. This paper addresses the main characteristics of Cyclone including modular design, self-balanced structure and rotating main drive. Moreover, the design and development of the system are discussed and the experimental results of two test scenarios will be presented. The developed system offers the highest level of operational and occupational safety to be rated as a human-capable system. The human-rating of Cyclone is currently investigated.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"46 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120858220","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: 4
Detecting the Distribution of a Robotic Swarm in Uncertain Conditions 不确定条件下机器人群的分布检测
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988677
Eliashiv Cohen, Yakov Idelson, Oded Medina, N. Shvalb, Shlomi Hacohen
{"title":"Detecting the Distribution of a Robotic Swarm in Uncertain Conditions","authors":"Eliashiv Cohen, Yakov Idelson, Oded Medina, N. Shvalb, Shlomi Hacohen","doi":"10.1109/ICCMA46720.2019.8988677","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988677","url":null,"abstract":"Localization problem of a swarm is required for most tasks related to swarms. In many cases real world sensors possess inherent measurement error. Nevertheless, having a large set of inter-measurements may compensate for this. The paper implements Extended Kalman Filter to estimate the swarm’s distribution. Indeed, a set of simulated experiments demonstrate the algorithm robustness and simplicity. Finally, we show that the resulting error estimation is reliable.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123544590","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
Vive for Robotics: Rapid Robot Cell Calibration Vive for Robotics:快速机器人单元校准
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988631
Morten Andre Astad, M. H. Arbo, E. Grøtli, J. Gravdahl
{"title":"Vive for Robotics: Rapid Robot Cell Calibration","authors":"Morten Andre Astad, M. H. Arbo, E. Grøtli, J. Gravdahl","doi":"10.1109/ICCMA46720.2019.8988631","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988631","url":null,"abstract":"The use of an HTC Vive; a virtual reality (VR) system and its innovative tracking technology is explored in order to create an approximate one-to-one mapping to the virtual representation of a robot cell. The mapping is found by performing hand-eye calibration, establishing a spatial relationship between the inertial frames of the robot cell and the tracking system. One of the main contributions of this article is the development of an open-source Robotic Operating System (ROS) package for VR devices such as the Vive. The package includes automated calibration procedures such that the devices gives a centimetric measurement error in the robot cell. The calibrated system has problems that are related to specific issues of the tracking technology. This article outlines these issues, their cause, and potential fixes in a concise manner. A simple assembly scenario is presented, where the outline of objects in the robot cell are defined by registering points with a Vive tracker. The potential use cases of the calibrated system are limited by its accuracy, and depends on the required tolerances.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124686009","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: 7
A Search Strategy for Motion Planning of Unmanned Crawler Crane 无人履带起重机运动规划的搜索策略
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988728
Yuanshan Lin, F. He, Xinzhong Cui, F. Wang, Hong Yu
{"title":"A Search Strategy for Motion Planning of Unmanned Crawler Crane","authors":"Yuanshan Lin, F. He, Xinzhong Cui, F. Wang, Hong Yu","doi":"10.1109/ICCMA46720.2019.8988728","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988728","url":null,"abstract":"The motion planning for unmanned crawler crane (UCC) whose initial and goal described accurately in workspace was challenging. The difficulty dues to the fact that the initial and goal produce low-dimensional self-motion manifolds, which rendered the search of planners bypassing the self-motion manifolds. In this study, a new concept of the neighbor-hoods of self-motion manifold was introduced, and the corresponding search strategy of bias was developed towards extending the nodes within the neighborhoods of self-motion manifolds so as to decrease the probability of the tree nodes walking by the self-motion manifolds. Then this strategy was used to improve the performance of BiMRRTs proposed in the previous study. Finally, several simulation experiments were implemented to demonstrate the effectiveness of the proposed search strategy of the neighborhood of self-motion manifold. The results showed that the proposed search strategy was able to dramatically decrease the planning time and the path length simultaneously.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127367030","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
Interactive Rehabilitation Using a General-Purpose Industrial Robot 基于通用工业机器人的交互式康复
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988778
Jian-Sheng Wang, Liang-kuang Chen
{"title":"Interactive Rehabilitation Using a General-Purpose Industrial Robot","authors":"Jian-Sheng Wang, Liang-kuang Chen","doi":"10.1109/ICCMA46720.2019.8988778","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988778","url":null,"abstract":"Rehabilitation is a medical process with high demand in current society. To reduce the work-load of the rehabilitation physicians, robot assisted rehabilitation has been investigated extensively in the literature, but usually a special purpose machine is to be designed and constructed. In this work, it is proposed to use the general-purpose industrial robot to achieve the functions of the rehabilitation robots. The key to the success of this idea lies in the capability of the industrial robot to receive real-time control interventions. Therefore, certain special function control modules need to be available on the industrial robots. A preliminary design of this concept using an ABB® robot is presented. Planner motions for the upper limb rehabilitations were tested with several human subjects, and the experimental results show that the designed system can provide the basic functions that are expected from the rehabilitation robots.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126967086","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
Experimental Characterisation of Hydraulic Fiber-Reinforced Soft Actuators for Worm-Like Robots 类蠕虫机器人液压纤维增强软作动器的实验研究
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988691
Matheus S. Xavier, A. Fleming, Y. Yong
{"title":"Experimental Characterisation of Hydraulic Fiber-Reinforced Soft Actuators for Worm-Like Robots","authors":"Matheus S. Xavier, A. Fleming, Y. Yong","doi":"10.1109/ICCMA46720.2019.8988691","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988691","url":null,"abstract":"This article describes the design and fabrication of fiber-reinforced soft actuators for a worm-like robot designed to operate inside constrained tubes. The actuators include bending, extension and torsion. These actuators are experimentally characterised by measuring the deflection versus applied pressure. The results demonstrate that fiber wrapping pattern, geometry of cross-section and elastomer selection are the main determinants of performance. The actuators under consideration are employed to construct a soft worm-like robot capable of ascending a pipe. This class of applications includes steerable catheters, endoscopes and pipe inspection devices.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128992702","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
Design of a Vibration Energy Harvester based on Coupled Oscillators 基于耦合振荡器的振动能量采集器设计
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988637
Paulus Schaap, T. Blad, Maarten Pieter Lustig, F. Alijani
{"title":"Design of a Vibration Energy Harvester based on Coupled Oscillators","authors":"Paulus Schaap, T. Blad, Maarten Pieter Lustig, F. Alijani","doi":"10.1109/ICCMA46720.2019.8988637","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988637","url":null,"abstract":"In this paper vibration energy harvesters based on coupled oscillators were compared to single degree of freedom (SDoF) systems. The harvester concepts were compared based on two cases: 1) a signal where a combination of two harmonic motions is continuously present and 2) a signal where the harmonic motions are alternating. Three configurations of the coupled oscillator harvester concept were presented and optimized for maximum power output. It was found that a coupled oscillator with two electromagnetic dampers performed equally well as an array of two SDoF systems. Coupled oscillators with only a single electromagnetic damper performed worse than the SDoF array. A prototype was built to validate the simulations and good correspondence between simulations and experiments was found.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129194042","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
Design and Practical Implementation of a Fractional Order Proportional Integral Controller (FOPI) for a Poorly Damped Fractional Order Process with Time Delay 含时滞低阻尼分数阶过程的分数阶比例积分控制器的设计与实现
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988655
I. Birs, C. Muresan, D. Copot, I. Nascu, C. Ionescu
{"title":"Design and Practical Implementation of a Fractional Order Proportional Integral Controller (FOPI) for a Poorly Damped Fractional Order Process with Time Delay","authors":"I. Birs, C. Muresan, D. Copot, I. Nascu, C. Ionescu","doi":"10.1109/ICCMA46720.2019.8988655","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988655","url":null,"abstract":"One of the most popular tuning procedures for the development of fractional order controllers is by imposing frequency domain constraints such as gain crossover frequency, phase margin and iso-damping properties. The present study extends the frequency domain tuning methodology to a gen-eralized range of fractional order processes based on second order plus time delay (SOPDT) models. A fractional order PI controller is tuned for a real process that exhibits poorly damped dynamics characterized in terms of a fractional order transfer function with time delay. The obtained controller is validated on the experimental platform by analyzing staircase reference tracking, input disturbance rejection and robustness to process uncertainties. The paper focuses around the tuning methodology as well as the fractional order modeling of the process’ dynamics.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123365898","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
ICCMA 2019 Preface
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/iccma46720.2019.8988743
{"title":"ICCMA 2019 Preface","authors":"","doi":"10.1109/iccma46720.2019.8988743","DOIUrl":"https://doi.org/10.1109/iccma46720.2019.8988743","url":null,"abstract":"","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121589219","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
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