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

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Development of Wheel-Spider-Inspired Hexapod Robot Realizing Walking and Rolling Locomotion 实现行走和滚动运动的轮蛛仿生六足机器人的研制
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988636
Takeshi Miura, S. Hatakeyama, M. Iwase
{"title":"Development of Wheel-Spider-Inspired Hexapod Robot Realizing Walking and Rolling Locomotion","authors":"Takeshi Miura, S. Hatakeyama, M. Iwase","doi":"10.1109/ICCMA46720.2019.8988636","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988636","url":null,"abstract":"To realize a robot that can move at high speed according to the environment while maintaining the traversability of a multi-legged robot, we propose a robot by focusing on the movement of the wheel spider. In this paper, we state the development of a wheel-spider-inspired hexapod robot which can walk and roll as locomotion way. For this robot, we have designed a mechanism to preserve both the capabilities of walking and rolling with arced outer shells. Its effectiveness has been verified through experiments, which have shown that the developed robot can move 0.04 meters per second when walking, and 0.25 meters per second while rolling. Moreover, the robot has realized a framework for deformation from walking to rolling, from rolling to walking. The results of our experiments demonstrate the potential abilities of the developed hexapod robot to adapt to different environments.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"114 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":"134307838","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
Conformal slip-free wafer chucking using an actuated wafer table 使用驱动晶圆台的共形无滑移晶圆夹紧
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988610
S. J. Hermanussen, M. Habets, M. Heertjes, J. Vermeulen
{"title":"Conformal slip-free wafer chucking using an actuated wafer table","authors":"S. J. Hermanussen, M. Habets, M. Heertjes, J. Vermeulen","doi":"10.1109/ICCMA46720.2019.8988610","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988610","url":null,"abstract":"In semiconductor applications, such as photolithog-raphy and wafer inspection, friction forces and related slip during wafer loading and chucking at the wafer table are known to cause non-reproducible wafer deformations that result in errors between successive processing steps. To minimize these so-called overlay errors, a modified wafer table design is proposed, which can be actuated in various orthogonal low order deformation shapes that are conformal to the shape of the wafer prior to loading. According to the simulation results, the required out of plane deformation for conformal loading can be achieved and the in-plane friction forces can be reduced significantly by matching the neutral plane of the actuated wafer table and the wafer. The actuator print-through effects, however, need further attention.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"291 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":"122731090","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
Theoretical Modeling and Efficiency Improvement of Electrically Activated Rotation-Flow Gripper 电激活旋流夹持器的理论建模与效率改进
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988764
Kaige Shi, Xin Li
{"title":"Theoretical Modeling and Efficiency Improvement of Electrically Activated Rotation-Flow Gripper","authors":"Kaige Shi, Xin Li","doi":"10.1109/ICCMA46720.2019.8988764","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988764","url":null,"abstract":"An electrically activated rotation-flow gripper uses rotating airflow to generate negative pressure and suction force on a workpiece. The rotational flow is directly driven by a fan connected to an electrical motor, so the gripper only consumes electrical power. Because the centrifugal force generated by the rotating flow helps prevent vacuum leakage, the gripper can handle workpieces with rough and uneven surfaces. In this study, the torque to drive the rotational flow in the rotating chamber and the suction force generated by the gripper are modeled, based on which the efficiency of the gripper can be obtained. The theoretical model shows efficiency could be improved by decreasing the suction force and increasing the size of the gripper. It is also found that adding a disc at the top end of the fan can improve the efficiency of the gripper by 35%. The disc could transform the flow between the fan and the upper shell wall into a turbulent plane Couette flow, thus reducing the driving torque by 24%. In addition, the disc isolated the insufficiently rotating flow near the upper shell wall from the sufficiently rotating flow below it, thereby further increasing the efficiency by increasing the suction force. The theoretical model and the efficiency improvement are verified by experiments.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"16 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":"116800200","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 Shaking Force Balancing of Compliant Mechanisms 柔性机构振动力平衡研究
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988681
S. Martínez, J. Meijaard, V. Wijk
{"title":"On the Shaking Force Balancing of Compliant Mechanisms","authors":"S. Martínez, J. Meijaard, V. Wijk","doi":"10.1109/ICCMA46720.2019.8988681","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988681","url":null,"abstract":"This paper is a first approach in finding design principles for the design of shaking force balanced compliant mechanisms. Shaking force balance means that the motions of the mechanism do not create any resultant dynamic reaction forces on the base, eliminating base vibrations.It is found that for a single balanced rotatable flexible link two stiffness related balance conditions exist in addition to the balance condition known for a rigid link. With these conditions the shaking force balance of a planar parallelogram mechanism with flexible links is considered. The case with fully compliant hinges is applied to a planar translator and the results are compared with the case in which the hinges are real revolute joints. Simulations show perfect force balance for the model with revolute joints and a reduced shaking force of 67% for the model with flexible joints. Prototypes of both mechanisms were developed and experimentally tested, showing shaking force reductions of 93% and 97.5%, respectively.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"64 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":"126258038","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
Intelligent Fault Detection Scheme for Drilling Process 钻井过程智能故障检测方案
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988616
Satyam Paul, Magnus Löfstrand
{"title":"Intelligent Fault Detection Scheme for Drilling Process","authors":"Satyam Paul, Magnus Löfstrand","doi":"10.1109/ICCMA46720.2019.8988616","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988616","url":null,"abstract":"Automatic fault detection system is an important aspect of an industrial process. The technique of fault detection helps in minimizing equipment downtime thus making it a cost effective process. In this paper, an innovative model-based fault detection (FD) system is combined with interval type-2 (IT2) Takagi-Sugeno (T-S) fuzzy system. This methodology is implemented for the detection of the faults in the drill bit of the drilling system. The proposed methodology validates the stability of the fault detection system in the presence of system uncertainties. Numerical analysis is carried out to prove the effectiveness of the theoretical approach. The fuzzy based fault detection technique can be implemented in real time for detecting faults during downhole drilling operations with assured stability of the fault detector system.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"55 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":"132868776","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
On Practical Input-Output Finite-Time Stability Based on Principle of Self-Support 基于自支持原理的实际投入产出有限时间稳定性研究
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988775
Tian Feng, Bao-wei Wu, Y. Chen
{"title":"On Practical Input-Output Finite-Time Stability Based on Principle of Self-Support","authors":"Tian Feng, Bao-wei Wu, Y. Chen","doi":"10.1109/ICCMA46720.2019.8988775","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988775","url":null,"abstract":"In this paper, based on the principle of self-support (PSS) and an existing definition of input-output finite-time stability (IO-FTS), a totally new concept which is defined as practical input-output finite-time stability (PIO-FTS) is proposed. First, the concept of PSS is reviewed and a theorem about tracking in the practical sense is listed by virtue of robotic system. Second, two different design algorithms for controller gain are presented to illustrate the effectiveness of the PSS. Finally, by introducing the existing definition of the IO-FTS, which is used to quantify the input-output behavior of the dynamics within a prescribed finite time interval, a framework about combining the PSS with IO-FTS is given to guarantee the approximate asymptotic tracking of control systems in a finite time.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"1 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":"129481896","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
A Hybrid Method Based on Systems Approach to Enhance Experiential Learning in Mechatronic Education 基于系统方法的混合方法增强机电一体化教育中的体验式学习
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988746
Cole Masse, P. Martinez, P. Mertiny, Rafiq Ahmad
{"title":"A Hybrid Method Based on Systems Approach to Enhance Experiential Learning in Mechatronic Education","authors":"Cole Masse, P. Martinez, P. Mertiny, Rafiq Ahmad","doi":"10.1109/ICCMA46720.2019.8988746","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988746","url":null,"abstract":"Learning factories are becoming a key part in education to bridge the gap between theory and practical work for Industry 4.0 applications. With the increasing necessity of experience-based learning in classrooms, challenges arise in the development of tangible approaches to deliver such knowledge to future engineers. There exist some popular tools to facilitate learning in multi-disciplinary environments, e.g. experiential learning, in order to provide hands-on learning. The effect of problem-based learning has also been a well-known research field in education. This paper proposes a new hybrid model that integrates the systems approach with experiential learning techniques. The integrated model is achieved by clustering the system-based steps into the four sets of the experiential learning approach. The use-case selected is a mechatronics machine, which is a perfect example of a system where students can implement problem-based learning. This integration provided a hybrid tool for teaching any complex systems. The integrated approach will further enhance the research and learning as follows: 1) the implementation of the mechatronics system into the Alberta Learning Factory at the University of Alberta; and 2) the connectivity between mechatronics modules, and workpieces using Industry 4.0. These future research topics will further improve the engineering education using experiential learning and provide an opportunity to better train employees and future engineers in the province of Alberta.","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":"121140734","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
NMPC-based Controller for Autonomous Vehicles Considering Handling Performance 考虑操纵性能的自动驾驶汽车nmpc控制器
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988688
M. Rokonuzzaman, N. Mohajer, S. Nahavandi
{"title":"NMPC-based Controller for Autonomous Vehicles Considering Handling Performance","authors":"M. Rokonuzzaman, N. Mohajer, S. Nahavandi","doi":"10.1109/ICCMA46720.2019.8988688","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988688","url":null,"abstract":"Autonomous Vehicles (AVs) have shown an evolutionary impact on the transportation systems by providing several benefits in terms of active safety as well as saving travel cost and time. The growing market of the AVs reflects the fact that different aspects of the AVs are still improving to provide a more comfortable and safer environment for the passengers. One of the subsystems which has potential to be improved is the path tracking controller. This subsystem is mainly responsible for the accurate and safe implementation of the trajectories. In this study, a nonlinear path tracking controller is proposed to improve the handling behavior of the AV. To this aim, a Nonlinear Model Predictive Controller (NMPC) is developed to optimise the tracking error and the handling behaviour of the AV. The constrained optimisation problem is solved using a nonlinear programming approach. The outcomes of the study show that adoption of this technique can result in improvement of handling behaviour and passengers comfort while meeting the requirement of an accurate path tracking.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"476 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":"116524265","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: 11
Behavioral Assessment of Various Control Laws Formulations for Position Tracking of Multi-sectioning Modeled Continuum Robots 多分割模型连续体机器人位置跟踪控制律的行为评价
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988780
O. Moussa, Mai A. Mira, Ahmed H. Fahmy, E. I. Morgan, Omar M. Shehata
{"title":"Behavioral Assessment of Various Control Laws Formulations for Position Tracking of Multi-sectioning Modeled Continuum Robots","authors":"O. Moussa, Mai A. Mira, Ahmed H. Fahmy, E. I. Morgan, Omar M. Shehata","doi":"10.1109/ICCMA46720.2019.8988780","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988780","url":null,"abstract":"This paper presents a study on miniature continuum robots which can bend continuously along their length and can be constructed to be more than one section to increase their degrees of freedom. This study is concerned with providing the kinematics and the dynamics of the robot. The kinematic equations is provided by Piece-wise constant curvature (PCC) assumption which is based on curve geometry. The Dynamics of the robot are provided by the analysis of the Lagrangian equation. Next, three control strategies are applied on a two-section continuum robot model using MATLAB Simulink environment to demonstrate the effectiveness of each control loop. The three control strategies are Proportional Derivative (PD) control, Fuzzy Logic Control (FLC), and Sliding Mode Control (SMC). The simulation results show an advantage in performance for the intelligent controller (FLC) and the nonlinear robust control (SMC) over the PD control.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"18 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":"114847570","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
A Modeling and Simulation based on the Multibody Dynamics for an Autonomous Agricultural Robot 基于多体动力学的自主农业机器人建模与仿真
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988607
Jong-Boo Han, Kyon-Mo Yang, D. H. Kim, Kap-Ho Seo
{"title":"A Modeling and Simulation based on the Multibody Dynamics for an Autonomous Agricultural Robot","authors":"Jong-Boo Han, Kyon-Mo Yang, D. H. Kim, Kap-Ho Seo","doi":"10.1109/ICCMA46720.2019.8988607","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988607","url":null,"abstract":"The purpose of this study is to develop an agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop and verify a control algorithm for autonomous agricultural robot that is exposed to various disturbance conditions in an outdoor environment. Recently, various analysis methods have been used to perform mechanical analysis and verification of control algorithms of robots. Although analytical techniques have the advantage of reducing development time and risk, they must be accompanied by accurate dynamic modeling techniques. In this paper, an accurate model using the closed dynamic of field agricultural robot was developed, and an autonomous driving algorithm based on the dynamic model was developed. To verify the algorithm, we dealt with co-simulation model that consist both ADAMS and Matlab-simulink. Using the developed model, we carried out various dynamics simulation in the several road conditions.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"26 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120860838","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
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